Efficient motion planning for high DOF hands using principal motion directions
The paper deals with the problem of motion planning of anthropomorphical mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand workspace, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and p...
| Autores: | , , , , |
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| Tipo de recurso: | informe técnico |
| Fecha de publicación: | 2008 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/3071 |
| Acceso en línea: | https://hdl.handle.net/2117/3071 |
| Access Level: | acceso abierto |
| Palabra clave: | Robotics Motion planning Anthropomorphical mechanical hands Planificació de moviments Planificación de movimientos Mans mecàniques antropomòrfiques Manos mecánicas antropomórficas Robòtica Classificació INSPEC::Modelling Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | The paper deals with the problem of motion planning of anthropomorphical mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand workspace, 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 anthropomorphical mechanical hand, and some examples are included to illustrate its validity. |
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