Planning hand-arm grasping motions with human-like appearance
Document typeConference report
Rights accessOpen Access
This paper addresses the problem of obtaining human-like motions on hand-arm robotic systems performing pick-and-place actions. The focus is set on the coordinated movements of the robotic arm and the anthropomorphic mechanical hand, with which the arm is equipped. For this, human movements performing different grasps are captured and mapped to the robot in order to compute the human hand synergies. These synergies are used to reduce the complexity of the planning phase by reducing the dimension of the search space. In addition, the paper proposes a sampling-based planner, which guides the motion planning ollowing the synergies. The introduced approach is tested in an application example and thoroughly compared with other state-of-the-art planning algorithms, obtaining better results.
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CitationGarcía, N.; Suarez, R.; Rosell, J. Planning hand-arm grasping motions with human-like appearance. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems". 2018, p. 3517-3522.