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Design of non-anthropomorphic robotic hands for anthropomorphic tasks

AuthorsSimo-Serra, Edgar ; Moreno-Noguer, Francesc ; Perez-Gracia, Alba
Issue Date2011
PublisherAmerican Society of Mechanical Engineers
CitationInternational Design Engineering Technical Conferences and Computers and Information in Engineering Conference 6: 377-386 (2011) : 1- 10 (2011)
AbstractIn this paper, we explore the idea of designing non-anthropomorphic, multi-fingered robotic hands for tasks that replicate the motion of the human hand. Taking as input data rigid-body trajectories for the five fingertips, we develop a method to perform dimensional synthesis for a kinematic chain with a tree structure, with three common joints and five branches. We state the forward kinematics equations of relative displacements for each serial chain expressed as dual quaternions, and solve for up to five chains simultaneously to reach a number of poses along the hand trajectory using a hybrid global numerical solver that integrates a genetic algorithm and a Levenberg-Marquardt local optimizer. Although the number of candidate solutions in this problem is very high, the use of the genetic algorithm lets us to perform an exhaustive exploration of the solution space and retain a subset of them. We then can choose some of the solutions based on the specific task to perform. Note that these designs could match the task exactly while having a finger design radically different from that of the human hand.
DescriptionTrabajo presentado al 35th Mechanisms and Robotics Conference celebrado en Washington del 28 al 31 de agosto de 2011.
Publisher version (URL)http://dx.doi.org/10.1115/DETC2011-47818
Identifiersdoi: 10.1115/DETC2011-47818
isbn: 978-0-7918-5483-9
Appears in Collections:(IRII) Libros y partes de libros
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