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Título: | Motion planning for high DOF anthropomorphic hands |
Autor: | Rosell, Jan; Suárez, Raúl; Rosales, Carlos CSIC; García, Jorge Alberto; Pérez, Alexander | Palabras clave: | Motion planning Grasping Anthropomorphic hands |
Fecha de publicación: | 2009 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE International Conference on Robotics and Automation: 4025-4030 (2009) | Resumen: | The 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. | Descripción: | Trabajo presentado al ICRA 2009 celebrado en Kobe (Japón) del 12 al 17 de mayo. | Versión del editor: | http://dx.doi.org/10.1109/ROBOT.2009.5152300 | URI: | http://hdl.handle.net/10261/30118 | DOI: | 10.1109/ROBOT.2009.5152300 | ISBN: | 978-1-4244-2788-8 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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Motion planning for high.pdf | 2,12 MB | Adobe PDF | Visualizar/Abrir |
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