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Path planning for grasping operations using an adaptive PCA-based sampling method

Autor
Rosell, J.; Suarez, R.; Perez, A.
Tipus d'activitat
Article en revista
Revista
Autonomous robots
Data de publicació
2013-07-01
Volum
35
Número
1
Pàgina inicial
27
Pàgina final
36
DOI
https://doi.org/10.1007/s10514-013-9332-5 Obrir en finestra nova
Projecte finançador
DESARROLLO DE SISTEMAS DE GULADIO EN LA BRONCOSCOPIA(GUIBROD) PARA EL DIAGNÓSTICO DEL NÓDULO PULMONAR PERIFÉRICO
Sincronización y teleoperación con interacción visual 3D de redes de manipuladores móviles y robots con articulaciones flexibles
Sistemas Multi-mano para tareas complejas de manipulación robotizada
Repositori
http://hdl.handle.net/2117/20339 Obrir en finestra nova
URL
http://link.springer.com/article/10.1007%2Fs10514-013-9332-5 Obrir en finestra nova
Resum
The planning of collision-free paths for a handarm robotic system is a difficult issue due to the large number of degrees of freedom involved and the cluttered environment usually encountered near grasping configurations. To cope with this problem, this paper presents a novel importance sampling method based on the use of principal component analysis (PCA) to enlarge the probability of finding collisionfree samples in these difficult regions of the configuration space with low clearance. By usin...
Citació
Rosell, J.; Suarez, R.; Perez, A. Path planning for grasping operations using an adaptive PCA-based sampling method. "Autonomous robots", 01 Juliol 2013, vol. 35, núm. 1, p. 27-36.
Paraules clau
Anthropomorphic Hands, Grasping, Importance Sampling, Motion Planning, Principal Component Analysis
Grup de recerca
SIR - Service and Industrial Robotics

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