This paper copes with the problem of finding a collision-free path for a hand-arm robotic system from an initial unconstrained configuration to a final grasping (or preshape) one. The aim is to obtain a natural motion as a sequence of human-like postures that both capture the coupling that there exist between the fingers of the human hand and also maintain the palm oriented towards the object to be grasped. The proposed method is a sampling-based approach whose efficiency relies in the reduction of the dimensionality obtained by considering, for the finger joints, a subspace determined by the main principal motion directions that capture the coupling and, for the position and orientation of the palm, the submanifold that satisfies the orientation constraint. The approach is illustrated with an example and compared to the case where no virtual constrains are used, validating the proposal. ; Peer Reviewed ; Postprint (author’s final draft)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Including virtual constraints in motion planning for anthropomorphic hands

    Rosell, Jan / Suárez, Raúl / Pérez, Alexander et al. | BASE | 2011

    Freier Zugriff

    Motion planning for high DOF anthropomorphic hands

    Rosell, Jan / Suárez, Raúl / Rosales, Carlos et al. | BASE | 2009

    Freier Zugriff

    Design of non-anthropomorphic robotic hands for anthropomorphic tasks

    Simó Serra, Edgar / Moreno-Noguer, Francesc / Pérez Gracia, Alba | BASE | 2011

    Freier Zugriff

    Design of non-anthropomorphic robotic hands for anthropomorphic tasks

    Simo-Serra, Edgar / Moreno-Noguer, Francesc / Perez-Gracia, Alba | BASE | 2011

    Freier Zugriff

    Grasping bulky objects with two anthropomorphic hands

    Rojas de Silva Gonzalez, Francisco Abiud / Suárez Feijóo, Raúl | BASE | 2016

    Freier Zugriff