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...

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Detalles Bibliográficos
Autores: Rosell Gratacòs, Jan|||0000-0003-4854-2370, Suárez Feijóo, Raúl|||0000-0002-3853-7095, Rosales Gallegos, Carlos, García, J.A., Pérez Ruiz, Alexander
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
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network_acronym_str ES
network_name_str España
repository_id_str
spelling Efficient motion planning for high DOF hands using principal motion directionsRosell Gratacòs, Jan|||0000-0003-4854-2370Suárez Feijóo, Raúl|||0000-0002-3853-7095Rosales Gallegos, CarlosGarcía, J.A.Pérez Ruiz, AlexanderRoboticsMotion planningAnthropomorphical mechanical handsPlanificació de movimentsPlanificación de movimientosMans mecàniques antropomòrfiquesManos mecánicas antropomórficasRobòticaClassificació INSPEC::ModellingÀrees temàtiques de la UPC::Informàtica::RobòticaThe 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.20082008-10-0120092009-10-20reporthttp://purl.org/coar/resource_type/c_93fcNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/reportapplication/pdfhttps://hdl.handle.net/2117/3071reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/30712026-05-27T15:37:01Z
dc.title.none.fl_str_mv Efficient motion planning for high DOF hands using principal motion directions
title Efficient motion planning for high DOF hands using principal motion directions
spellingShingle Efficient motion planning for high DOF hands using principal motion directions
Rosell Gratacòs, Jan|||0000-0003-4854-2370
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
title_short Efficient motion planning for high DOF hands using principal motion directions
title_full Efficient motion planning for high DOF hands using principal motion directions
title_fullStr Efficient motion planning for high DOF hands using principal motion directions
title_full_unstemmed Efficient motion planning for high DOF hands using principal motion directions
title_sort Efficient motion planning for high DOF hands using principal motion directions
dc.creator.none.fl_str_mv Rosell Gratacòs, Jan|||0000-0003-4854-2370
Suárez Feijóo, Raúl|||0000-0002-3853-7095
Rosales Gallegos, Carlos
García, J.A.
Pérez Ruiz, Alexander
author Rosell Gratacòs, Jan|||0000-0003-4854-2370
author_facet Rosell Gratacòs, Jan|||0000-0003-4854-2370
Suárez Feijóo, Raúl|||0000-0002-3853-7095
Rosales Gallegos, Carlos
García, J.A.
Pérez Ruiz, Alexander
author_role author
author2 Suárez Feijóo, Raúl|||0000-0002-3853-7095
Rosales Gallegos, Carlos
García, J.A.
Pérez Ruiz, Alexander
author2_role author
author
author
author
dc.subject.none.fl_str_mv 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
topic 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
description 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.
publishDate 2008
dc.date.none.fl_str_mv 2008
2008-10-01
2009
2009-10-20
dc.type.none.fl_str_mv report
http://purl.org/coar/resource_type/c_93fc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/report
format report
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/3071
url https://hdl.handle.net/2117/3071
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.301603

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