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dc.contributor.authorSun, Shao-Chun
dc.contributor.authorRosales Gallegos, Carlos
dc.contributor.authorSuárez Feijóo, Raúl
dc.contributor.otherUniversitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.date.accessioned2010-09-11T18:16:54Z
dc.date.available2010-09-11T18:16:54Z
dc.date.created2010
dc.date.issued2010
dc.identifier.citationSun, S.; Rosales, C.; Suárez, R. Study of coordinated motions of the human hand for robotic applications. A: IEEE International Conference on Information and Automation. "IEEE International Conference on Information and Automation 2010". Harbin: 2010, p. 776-781.
dc.identifier.urihttp://hdl.handle.net/2117/8821
dc.description.abstractThis paper presents an acquisition method that comprehensively looks for the mimic configurations of the human hand. The data obtained through this process is further analyzed, transformed, and then used to synthesize a reduced configuration space of a robot anthropomorphic hand. The method rely on a dimensionality reduction technique that provides a new basis of the full configuration space, from which one can select a subset of the vectors forming that basis, and finally obtaining a simpler configuration subspace. These vectors are called Principal Motion Directions, and represent the coordinated motions captured by a sensorized glove on a human hand and transferred to the robot hand. The characteristics and limitations of the subspace are discussed, as well as its application in several scenarios within robotics such as the motion planning of robot hands, where the subspace has been successfully implemented and executed.
dc.format.extent6 p.
dc.language.isoeng
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobotics
dc.subject.otherindustrial robots intelligent robots manipulators AUTOR: motion capture hands
dc.titleStudy of coordinated motions of the human hand for robotic applications
dc.typeConference report
dc.subject.lemacRobòtica
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.identifier.doi10.1109/ICINFA.2010.5512463
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.relation.publisherversionhttp://dx.doi.org/10.1109/ICINFA.2010.5512463
dc.rights.accessOpen Access
local.identifier.drac2635553
dc.description.versionPostprint (published version)
local.citation.authorSun, S.; Rosales, C.; Suárez, R.
local.citation.contributorIEEE International Conference on Information and Automation
local.citation.pubplaceHarbin
local.citation.publicationNameIEEE International Conference on Information and Automation 2010
local.citation.startingPage776
local.citation.endingPage781


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