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Title

Motion planning for high DOF anthropomorphic hands

AuthorsRosell, Jan; Suárez, Raúl; Rosales, Carlos ; García, Jorge Alberto; Pérez, Alexander
KeywordsMotion planning
Grasping
Anthropomorphic hands
Issue Date2009
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE International Conference on Robotics and Automation: 4025-4030 (2009)
AbstractThe paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and planning complexity (time) by means of the concept of principal motion directions. Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a sampling-based roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand, and some examples are included to illustrate its validity.
DescriptionTrabajo presentado al ICRA 2009 celebrado en Kobe (Japón) del 12 al 17 de mayo.
Publisher version (URL)http://dx.doi.org/10.1109/ROBOT.2009.5152300
URIhttp://hdl.handle.net/10261/30118
DOI10.1109/ROBOT.2009.5152300
ISBN978-1-4244-2788-8
Appears in Collections:(IRII) Libros y partes de libros
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