Presentado al 13th International Symposium on Advances in Robot Kinematics (ARK) celebrado en Austria del 24 al 28 de junio de 2012. ; In this paper we present a novel method of designing multi-fingered robotic hands using tasks composed of both finite and infinitesimal motion. The method is based on representing the robotic hands as a kinematic chain with a tree topology. We represent finite motion using Clifford algebra and infinitesimal motion using Lie algebra to perform finite dimensional kinematic synthesis of the multi-fingered mechanism. This allows tasks to be defined not only by displacements, but also by the velocity and acceleration at different positions for the design of robotic hands. The additional information enables an increased local approximation of the task at critical positions, as well as contact and curvature specifications. An example task is provided using an experimental motion capture system and we present the design of a robotic hand for the task using a hybrid Genetic Algorithm/Levenberg-Marquadt solver. ; This work is partially supported by the Spanish Ministry of Science and Innovation under project DPI2010-18449. ; Peer Reviewed
Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks
2012-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks
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