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Planning hand-arm grasping motions with human-like appearance
dc.contributor.author | García, Néstor |
dc.contributor.author | Suárez Feijóo, Raúl |
dc.contributor.author | Rosell Gratacòs, Jan |
dc.contributor.other | Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2019-02-06T13:06:45Z |
dc.date.available | 2019-02-06T13:06:45Z |
dc.date.issued | 2018 |
dc.identifier.citation | García, 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. |
dc.identifier.uri | http://hdl.handle.net/2117/128586 |
dc.description | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works |
dc.description | Finalista de l’IROS Best Application Paper Award a la 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, ICROS. |
dc.description.abstract | 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. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.other | Planning |
dc.subject.other | Grasping |
dc.subject.other | Robot kinematics |
dc.subject.other | Trajectory |
dc.subject.other | Complexity theory |
dc.subject.other | Manipulators |
dc.title | Planning hand-arm grasping motions with human-like appearance |
dc.type | Conference report |
dc.subject.lemac | Mans mecàniques |
dc.contributor.group | Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
dc.identifier.doi | 10.1109/IROS.2018.8594432 |
dc.description.peerreviewed | Peer Reviewed |
dc.description.awardwinning | Award-winning |
dc.relation.publisherversion | http://ieeexplore.ieee.org.recursos.biblioteca.upc.edu/stamp/stamp.jsp?tp=&arnumber=8594432&isnumber=8593358 |
dc.rights.access | Open Access |
local.identifier.drac | 23645008 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/MINECO/DPI2016-80077-R |
local.citation.author | García, N.; Suarez, R.; Rosell, J. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.publicationName | Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.startingPage | 3517 |
local.citation.endingPage | 3522 |