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Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

dc.contributor.authorRosell, Jan
dc.contributor.authorSuárez, Raúl
dc.contributor.authorRosales, Carlos
dc.contributor.authorPérez Ruíz, Alexander
dc.date.accessioned2023-05-11T22:05:53Z
dc.date.available2023-05-11T22:05:53Z
dc.date.issued2011
dc.identifier.issn0929-5593spa
dc.identifier.urihttps://repositorio.escuelaing.edu.co/handle/001/2324
dc.description.abstractThe paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” to reduce the dimension of the search space in order to obtain results with a compromise between motion optimality and planning complexity (time). 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 probabilistic roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) assembled on an industrial robot (6 independent degrees of freedom), and experimental examples are included to illustrate its validity.eng
dc.description.abstractEl artículo aborda el problema de la planificación del movimiento de manos mecánicas antropomórficas evitando colisiones e intentando imitar posturas reales de manos humanas. El enfoque utiliza el concepto de "direcciones principales de movimiento" para reducir la dimensión del espacio de búsqueda con el fin de obtener resultados con un compromiso entre la optimalidad del movimiento y la complejidad de la planificación (tiempo). Básicamente, el trabajo incluye las siguientes fases: capturar el espacio de trabajo de la mano humana utilizando un guante sensorizado y mapearlo al espacio de trabajo de la mano mecánica, reducir la dimensión del espacio buscando las direcciones principales de movimiento más relevantes, y planificar los movimientos de la mano utilizando un planificador probabilístico de hojas de ruta. El enfoque se ha aplicado a una mano mecánica antropomórfica de cuatro dedos (17 articulaciones con 13 grados de libertad independientes) montada en un robot industrial (6 grados de libertad independientes), y se incluyen ejemplos experimentales para ilustrar su validez.spa
dc.format.extent16 páginasspa
dc.format.mimetypeapplication/pdfspa
dc.language.isoengspa
dc.publisherSpringerspa
dc.sourcehttps://link.springer.com/article/10.1007/s10514-011-9232-5#article-infospa
dc.titleAutonomous motion planning of a hand-arm robotic system based on captured human-like hand postureseng
dc.typeArtículo de revistaspa
dc.type.versioninfo:eu-repo/semantics/publishedVersionspa
oaire.accessrightshttp://purl.org/coar/access_right/c_abf2spa
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85spa
dc.contributor.researchgroupGrupo de Investigación Ecitrónicaspa
dc.identifier.doihttps://doi.org/10.1007/s10514-011-9232-5
dc.identifier.eissn1573-7527spa
dc.identifier.urlhttps://link.springer.com/article/10.1007/s10514-011-9232-5#article-info
dc.publisher.placeEstados Unidosspa
dc.relation.citationendpage102spa
dc.relation.citationissue1spa
dc.relation.citationstartpage87spa
dc.relation.citationvolume31spa
dc.relation.indexedN/Aspa
dc.relation.ispartofjournalAutonomous Robotseng
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dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.subject.armarcManos robóticasspa
dc.subject.armarcRobot handseng
dc.subject.armarcManipuladores (Mecanismo)spa
dc.subject.armarcManipulators (Mechanism)eng
dc.subject.armarcRobóticaspa
dc.subject.armarcRoboticseng
dc.subject.proposalMotion planningeng
dc.subject.proposalGraspingeng
dc.subject.proposalManipulationeng
dc.subject.proposalMechanical handseng
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dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/articlespa
dc.type.redcolhttp://purl.org/redcol/resource_type/ARTspa


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