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

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Perez Ruiz, Alexander
    Autonomous robots
    Date of publication: 2013-07-01
    Journal article

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    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 using collision-free samples near the goal, PCA is periodically applied in order to obtain a sampling volume near the goal that better covers the free space, improving the efficiency of sampling-based path planning methods. The approach has been tested with success on a hand-arm robotic system composed of a four-finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) and an industrial robot (6 independent degrees of freedom).

  • Object shape reconstruction based on the object manipulation

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    International Conference on Advanced Robotics
    Presentation's date: 2013-11-25
    Presentation of work at congresses

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  • Manipulación de objetos con dos dedos usando información táctil

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    Jornadas de Automática
    Presentation's date: 2013-09-04
    Presentation of work at congresses

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  • An on-line coordination algorithm for multi-robot systems

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2013-09-10
    Presentation of work at congresses

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  • Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links

     Alvarado Tovar, Noé; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2013-09-10
    Presentation of work at congresses

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  • Safe teleoperation of a dual hand-arm robotic system

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Pérez Ruiz, Alexander
    Iberian Robotics Conference
    Presentation's date: 2013-11-28
    Presentation of work at congresses

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  • Búsqueda de prensiones con force-closure de objetos 2D articulados con 2 eslabones

     Alvarado Tovar, Noé; Suarez Feijoo, Raul
    Jornadas de Automática
    Presentation's date: 2013-09-04
    Presentation of work at congresses

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  • Manipulation tasks with a dual arm system including obstacles removing

     Rodriguez Pacheco, Carlos; Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2013-09-10
    Presentation of work at congresses

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  • Hybrid mapping for the assistance of teleoperated grasping tasks

     Colasanto, Luca; Suarez Feijoo, Raul; Rosell Gratacos, Joan
    IEEE transactions on systems man and cybernetics Part A-systems and humans
    Date of publication: 2013-09-12
    Journal article

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    Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a simple direct mapping of the sensor readings from the glove to the robotic hand. This problem is addressed with different types of mapping, but none of them is of general use. This paper proposes two new mappings within two existing mapping types, as well as a new hybrid mapping that combines the best features of these existing mapping types. This hybrid mapping allows intuitive free space movements (where the gesture is more important than the precise positions of the fingers) and grasp movements (where the precise positions of the fingers is more important than the gesture), despite kinematic differences between the human hand and the robotic hand. The approach has been implemented, and some illustrative examples are presented in this paper.

  • Grasp plannind under task-specific contact constraints  Open access

     Rosales Gallegos, Carlos José
    Defense's date: 2013-01-10
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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    Several aspects have to be addressed before realizing the dream of a robotic hand-arm system with human-like capabilities, ranging from the consolidation of a proper mechatronic design, to the development of precise, lightweight sensors and actuators, to the efficient planning and control of the articular forces and motions required for interaction with the environment. This thesis provides solution algorithms for a main problem within the latter aspect, known as the {\em grasp planning} problem: Given a robotic system formed by a multifinger hand attached to an arm, and an object to be grasped, both with a known geometry and location in 3-space, determine how the hand-arm system should be moved without colliding with itself or with the environment, in order to firmly grasp the object in a suitable way. Central to our algorithms is the explicit consideration of a given set of hand-object contact constraints to be satisfied in the final grasp configuration, imposed by the particular manipulation task to be performed with the object. This is a distinguishing feature from other grasp planning algorithms given in the literature, where a means of ensuring precise hand-object contact locations in the resulting grasp is usually not provided. These conventional algorithms are fast, and nicely suited for planning grasps for pick-an-place operations with the object, but not for planning grasps required for a specific manipulation of the object, like those necessary for holding a pen, a pair of scissors, or a jeweler's screwdriver, for instance, when writing, cutting a paper, or turning a screw, respectively. To be able to generate such highly-selective grasps, we assume that a number of surface regions on the hand are to be placed in contact with a number of corresponding regions on the object, and enforce the fulfilment of such constraints on the obtained solutions from the very beginning, in addition to the usual constraints of grasp restrainability, manipulability and collision avoidance. The proposed algorithms can be applied to robotic hands of arbitrary structure, possibly considering compliance in the joints and the contacts if desired, and they can accommodate general patch-patch contact constraints, instead of more restrictive contact types occasionally considered in the literature. It is worth noting, also, that while common force-closure or manipulability indices are used to asses the quality of grasps, no particular assumption is made on the mathematical properties of the quality index to be used, so that any quality criterion can be accommodated in principle. The algorithms have been tested and validated on numerous situations involving real mechanical hands and typical objects, and find applications in classical or emerging contexts like service robotics, telemedicine, space exploration, prosthetics, manipulation in hazardous environments, or human-robot interaction in general.

  • Numerical Computation and Avoidance of Manipulator Singularities  Open access

     Bohigas Nadal, Oriol
    Defense's date: 2013-05-10
    Universitat Politècnica de Catalunya
    Theses

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    This thesis develops general solutions to two open problems of robot kinematics: the exhaustive computation of the singularity set of a manipulator, and the synthesis of singularity-free paths between given configurations. Obtaining proper solutions to these problems is crucial, because singularities generally pose problems to the normal operation of a robot and, thus, they should be taken into account before the actual construction of a prototype. The ability to compute the whole singularity set also provides rich information on the global motion capabilities of a manipulator. The projections onto the task and joint spaces delimit the working regions in such spaces, may inform on the various assembly modes of the manipulator, and highlight areas where control or dexterity losses can arise, among other anomalous behaviour. These projections also supply a fair view of the feasible movements of the system, but do not reveal all possible singularity-free motions. Automatic motion planners allowing to circumvent problematic singularities should thus be devised to assist the design and programming stages of a manipulator. The key role played by singular configurations has been thoroughly known for several years, but existing methods for singularity computation or avoidance still concentrate on specific classes of manipulators. The absence of methods able to tackle these problems on a sufficiently large class of manipulators is problematic because it hinders the analysis of more complex manipulators or the development of new robot topologies. A main reason for this absence has been the lack of computational tools suitable to the underlying mathematics that such problems conceal. However, recent advances in the field of numerical methods for polynomial system solving now permit to confront these issues with a very general intention in mind. The purpose of this thesis is to take advantage of this progress and to propose general robust methods for the computation and avoidance of singularities on non-redundant manipulators of arbitrary architecture. Overall, the work seeks to contribute to the general understanding on how the motions of complex multibody systems can be predicted, planned, or controlled in an efficient and reliable way.

    Aquesta tesi desenvolupa solucions generals per dos problemes oberts de la cinemàtica de robots: el càlcul exhaustiu del conjunt singular d'un manipulador, i la síntesi de camins lliures de singularitats entre configuracions donades. Obtenir solucions adequades per aquests problemes és crucial, ja que les singularitats plantegen problemes al funcionament normal del robot i, per tant, haurien de ser completament identificades abans de la construcció d'un prototipus. La habilitat de computar tot el conjunt singular també proporciona informació rica sobre les capacitats globals de moviment d'un manipulador. Les projeccions cap a l'espai de tasques o d'articulacions delimiten les regions de treball en aquests espais, poden informar sobre les diferents maneres de muntar el manipulador, i remarquen les àrees on poden sorgir pèrdues de control o destresa, entre d'altres comportaments anòmals. Aquestes projeccions també proporcionen una imatge fidel dels moviments factibles del sistema, però no revelen tots els possibles moviments lliures de singularitats. Planificadors de moviment automàtics que permetin evitar les singularitats problemàtiques haurien de ser ideats per tal d'assistir les etapes de disseny i programació d'un manipulador. El paper clau que juguen les configuracions singulars ha estat àmpliament conegut durant anys, però els mètodes existents pel càlcul o evitació de singularitats encara es concentren en classes específiques de manipuladors. L'absència de mètodes capaços de tractar aquests problemes en una classe suficientment gran de manipuladors és problemàtica, ja que dificulta l'anàlisi de manipuladors més complexes o el desenvolupament de noves topologies de robots. Una raó principal d'aquesta absència ha estat la manca d'eines computacionals adequades a les matemàtiques subjacents que aquests problemes amaguen. No obstant, avenços recents en el camp de mètodes numèrics per la solució de sistemes polinòmics permeten ara enfrontar-se a aquests temes amb una intenció molt general en ment. El propòsit d'aquesta tesi és aprofitar aquest progrés i proposar mètodes robustos i generals pel càlcul i evitació de singularitats per manipuladors no redundants d'arquitectura arbitrària. En global, el treball busca contribuir a la comprensió general sobre com els moviments de sistemes multicos complexos es poden predir, planificar o controlar d'una manera eficient i segura

  • Estimación de la forma de un objeto deformable mediante integración de visión y tacto

     Del Castillo pérez, Esteban
    Defense's date: 2013-09-30
    Universitat Politècnica de Catalunya
    Theses

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  • Premi Robotnik 2013 al millor treball en l'àrea de robòtica

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    Award or recognition

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  • On the synthesis of feasible and prehensile robotic grasps

     Rosales Gallegos, Carlos; Suarez Feijoo, Raul; Gabiccini, Marco; Bicchi, Antonio
    IEEE International Conference on Robotics and Automation
    Presentation's date: 2012
    Presentation of work at congresses

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    This work proposes a solution to the grasp synthesis problem, which consist of finding the best hand configuration to grasp a given object for a specific manipulation task while satisfying all the necessary constraints. This problem had been divided into sequential sub-problems, including contact region determination, hand inverse kinematics and force distribution, with the particular constraints of each step tackled independently. This may lead to unnecessary effort, such as when one of the problems has no solution given the output of the previous step as input. To overcome this issue, we present a kinestatic formulation of the grasp synthesis problem that introduces compliance both at the joints and the contacts. This provides a proper framework to synthesize a feasible and prehensile grasp by considering simultaneously the necessary grasping constraints, including contact reachability, object restraint, and force controllability. As a consequence, a solution of the proposed model results in a set of hand configurations that allows to execute the grasp using only a position controller. The approach is illustrated with experiments on a simple planar hand using two fingers and an anthropomorphic robotic hand using three fingers.

  • Coordinación temporal de dos robots manipuladores

     Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    Jornadas de Automática
    Presentation's date: 2012-09-05
    Presentation of work at congresses

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    En este art´ıculo se presenta un m´etodo de coordinaci´on de movimientos en tiempo real que permite que dos robots industriales equipados con manos rob´oticas puedan ejecutar simult´aneamente tareas de manipulaci´on de objetos en una celda de trabajo compartida, evitando las posibles colisiones debidas a la planificaci´on desacoplada de los movimientos de cada robot. Para ilustrar el m´etodo propuesto se muestran experimentos en los que se asign´o a cada robot la tarea de retirar objetos de un mesa para llevarlos a una posici´on donde los puede recibir un operario.

  • Búsqueda de caminos libres de colisiones para un sistema bimanual considerando la eliminación de obstáculos movibles

     Rodriguez Pacheco, Carlos; Montaño Sarria, Andres Felipe; Suarez Feijoo, Raul
    Jornadas de Automática
    Presentation's date: 2012-09-05
    Presentation of work at congresses

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    Este art´ıculo aborda el problema de la planificación de movimientos de un sistema de dos manos para la sujeción un objeto con una mano utilizando la otra mano para quitar los posibles obstáculos que se encuentren en la trayectoria hacia la meta. Este enfoque se basa en Mapas de Carreteras Probabilístico (del inglés, Probabilistic Road Maps (PRM)), con la particularidad de que no se descartan las muestras en colisión con objetos movibles, sino que son clasificadas y etiquetadas de acuerdo con el obstáculo con que colisiona,y se permite la búsqueda de caminos considerando los obstáculos movibles que deben ser quitados del espacio de trabajo para obtener una ruta de acceso v´alida. El método ha sido implementado y se presentan diferentes pruebas utilizando un modelo virtual del sistema bimanual,teniendo en cuenta que uno de los robots es el que se encarga de sujetar el objeto deseado (meta) y el otro de quitar los obst´aculos encontrados.

  • Instrumento quirúrgico de sutura para anastomosis automática del tubo digestivo

     Tornero Garcia, Jose Antonio; Suarez Feijoo, Raul; Cano Casas, Francisco; Montaño Sarria, Andres Felipe; Lopez Cano, Manuel
    Jornadas de Automática
    Presentation's date: 2012-09-05
    Presentation of work at congresses

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    En la cirugía digestiva, una anastomosis del intestino consiste en la reconstrucción del tubo digestivo por unión de dos cabos tras la resección de una porción del mismo. Este procedimiento, de común aplicación en diversos tipos de intervención quirúrgica se realiza actualmente mediante la aplicación de grapas metálicas debido a la complejidad inherente de la realización de una sutura manual. La automatización del proceso de sutura mediante un dispositivo diseñado a tal efecto supondría una notable mejora en el procedimiento quirúrgico asociado y posteriormente en la calidad de vida del paciente, ya que las grapas metálicas empleadas actualmente presentan diversos inconvenientes. El diseño de este dispositivo presenta gran complejidad debido al rigor de los requisitos funcionales y a la complejidad del entorno de funcionamiento así como las características de los materiales que intervienen en el proceso.En el presente trabajo se describe el desarrollo de un prototipo de dispositivo para anastomosis automática mediante sutura, evaluando su funcionalidad a nivel de laboratorio, con objeto de probar su validez

  • Determining force-closure grasps reachable by a given hand

     Gilart González, Fidel; Suarez Feijoo, Raul
    Symposium on Robot Control
    Presentation's date: 2012-09-05
    Presentation of work at congresses

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    The paper presents an approach to find contact points on an object surface that are reachable by a given hand and such that the resulting grasp satisfies the force-closure condition. This is a very common problem that still requires a practical solution. The proposed method is based on the computation of a set of independent contact regions on the object boundary such that a finger contact on each region produces a force-closure grasp, and then this set of regions is iteratively recomputed while looking for a set of contact points that are reachable by a given hand. The search is done guided by a cost function that indicates the proximity of the hand fingertips to a candidate set of grasping contact points. The approach has been implemented for the Schunk Anthropomorphic Hand and planar objects,and application examples are included to illustrate its performance.

  • Planificación de Movimientos en Entornos Dinámicos o Inciertos Mediante la Coordinación de Métodos Aleatorios de Búsqueda y Funciones Armónicas  Open access

     Íñiguez Galvete, Pedro Jesus
    Defense's date: 2012-05-23
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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    En los métodos planificadores de trayectorias basados en funciones potenciales, la utilización de las funciones armónicas tiene la importante propiedad de no presentar mínimos locales. Sin embargo, la creación de planificadores basados en estas funciones armónicas se ha encontrado con serias dificultades, sobre todo cuando el número de grados de libertad es elevado. Por este motivo, esta tesis realiza inicialmente un estudio de las propiedades más relevantes de dichas funciones armónicas; destacando aquellas que han sido la causa de su reducida aplicación en la generación de trayectorias. Al mismo tiempo, el resultado de este estudio sirve de base para la proposición de métodos compensatorios que permitan reducir las propiedades negativas de las funciones armónicas, como funciones potenciales aplicables a la generación de movimientos en robótica. Después se considera los métodos numéricos de cálculo de las funciones armónicas, así como el coste computacional de los mismos. Con el objetivo de reducir el tiempo de cálculo, esta tesis propone una discretización jerárquica y un método eficiente de etiquetado de celdas. Por su parte, dicha discretización jerárquica, se va realizando progresivamente mediante muestreo aleatorio y descomposición de celdas, lo que genera un escenario parcialmente conocido que, sin embargo, permitirá en cierto número de casos encontrar la trayectoria buscada. Por lo tanto, esta propuesta reduce drásticamente el número de puntos de cálculo y, por consiguiente, el tiempo de computación. La tesis completa la propuesta de un planificador combinando las técnicas de muestreo con el cálculo de funciones armónicas mediante un método de exploración aleatorio conducido (PHM), aplicado a un espacio de configuraciones discretizado jerárquicamente sobre el que se va recalculando la función armónica. De esta forma la exploración se guía hacia zonas más prometedoras, intentando obtener la solución por fases.

    In methods based trajectories planners potential functions, the use of harmonic functions has the important property of not presenting local minima. However, the creation of planners based on these harmonic functions has met with serious difficulties, especially when the number of degrees of freedom is high. For this reason, this thesis makes an initial study of the properties most relevant of these harmonic functions, highlighting those that have been the cause of their limited application in the generation of trajectories. At the same time, the result of this study provides a basis for proposing compensatory methods to reduce the negative properties of harmonic functions as potential functions applicable to the generation of robotic movements. Then we consider numerical methods for calculating the harmonic functions and the computational cost of the same. In order to reduce computation time, this thesis proposes a hierarchical discretization and an efficient method of labeling cells. Meanwhile, this discretization hierarchical be made gradually by random sampling and decomposition of cells, generating a scene partially known, however, allow a number of cases in finding the trajectory sought. Therefore, this proposal drastically reduces the number of calculation points, and hence the computation time. The thesis, complete a proposed planner combining sampling techniques to the calculation of harmonic functions by a method of random exploration conducted (PHM), applied to a hierarchically discretized configuration space on which the harmonic function is recalculated. In this way the exploration is guided to more promising, trying to obtain the solution phases.

  • Haptic guidance based on harmonic functions path planning for the teleoperation of robotic tasks

     Vázquez Hurtado, Carlos
    Defense's date: 2012-01-27
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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  • Instrumento quirúrgico de sutura para anastomosis del tubo digestivo

     Tornero Garcia, Jose Antonio; Suarez Feijoo, Raul; Lopez Cano, Manuel
    Date of request: 2012-08-01
    Invention patent

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    Instrumento quirúrgico de sutura para anastomosis.

    El instrumento comprende unos medios de sujeción para sujetar dos partes anulares de un tejido tubular a suturar, con sus caras exteriores en contacto, en una interfaz (25) entre un cuerpo principal (10) y un cabezal (20), un mecanismo de vaivén alojado en el cuerpo principal (10) que mueve una aguja de sutura (3) con un hilo de sutura (H) enhebrado en su ojo (3a) a través de la interfaz (25), atravesando las dos partes anulares del tejido tubular, un mecanismo de enlace que mueve un áncora (4) alojada en el cabezal (20) en coordinación con el movimiento de vaivén de la aguja de sutura (3), y un mecanismo de avance que hace girar los mecanismos de vaivén y de enlace alrededor de un eje longitudinal (E). El áncora (4) coopera con la aguja de sutura (3) dentro del cabezal (4) para realizar la sutura mediante el hilo (H).

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    Teleoperación de manos antropomorfas  Open access

     Suarez Feijoo, Raul; Rosell Gratacos, Joan; Colasanto, Luca
    Workshop Español de Robótica
    Presentation's date: 2011-11-28
    Presentation of work at congresses

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    Un escenario ideal para la teleoperaci´on de manos antropomorfas es que el operador humano pueda realizar una determinada operaci´on con sus propias manos y el sistema rob´otico teleoperado provisto de una mano antropomorfa la replique. Actualmente ya existen manos mec´anicas antropomorfas con numerosos grados de libertad y la posibilidad de dirigir sus acciones de forma remota es viable, pero, sin embargo, la imposibilidad de que la cinem´atica de la mano rob´otica sea totalmente equivalente a la de cualquier humano genera un problema significativo en el esquema de teleoperaci´on mencionado. La respuesta a c´omo se deben reproducir los movimientos de la mano humana en la mano rob´otica para que ´esta realice la misma tarea no es lo evidente que en principio pudiera parecer. En este contexto, este art´ıculo presenta dos proyecciones de movimientos de la mano humana a la mano rob´otica que tienen como fin facilitar las tareas de telemanipulaci ´on. Ambas proyecciones han sido implementadas y en el art´ıculo se incluyen ejemplos de resultados experimentales.

  • Importance Sampling based on Adaptive Principal Component Analysis

     Rosell Gratacos, Joan; Cruz, Luis; Perez Ruiz, Alexander; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    Presentation's date: 2011-05
    Presentation of work at congresses

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    Sampling-based approaches are currently the most efficient ones to solve path planning problems, being their performance dependant on the ability to generate samples in those areas of the configuration space relevant to the problem. This paper introduces a novel importance sampling method that uses Principal Component Analysis to focalize the region where to sample in order to increase the probability of finding collision-free configurations. The proposal is illustrated with a 2D configuration space with a narrow passage and compared to the uniform random sampling method.

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    Planificación de movimientos para conjuntos mano-brazo con numerosos grados de libertad  Open access

     Suarez Feijoo, Raul; Rosell Gratacos, Joan
    Workshop Español de Robótica
    Presentation's date: 2011-11-28
    Presentation of work at congresses

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    Con el objetivo de avanzar hacia la emulaci ´on de las capacidades y destreza de la mano humana se est ´an desarrollando manos rob´oticas con prestaciones muy superiores a las tradicionales pinzas usadas en la rob´otica industrial. El uso de estas manos rob´oticas conlleva asociados nuevos retos, y entre ellos est ´a el de la planificaci ´on eficiente de sus movimientos, ya que aunque algunos m´etodos de planificaci ´on tradiciones podr´ıan ser v´alidos, su aplicaci ´on pr´actica es limitada debido sobre todo al elevado n´umero de grados de libertad que tiene un sistema rob´otico que incluya una mano antropomorfa montada sobre un brazo manipulador. Este art´ıculo presenta un enfoque que permite soluciones suficientemente eficientes para ser utilizadas en la pr´actica. El enfoque propuesto est ´a basado en la reducci ´on de la dimensi ´on del espacio de b´usqueda y en la utilizaci ´on de t´ecnicas de muestreo para generar movimientos del conjunto mano-brazo en entornos con obst ´aculos que pueden imponer fuertes restricciones en la b´usqueda de movimientos sin colisi ´on, como sucede normalmente cuando la mano se acerca a un objeto para su sujeci ´on y manipulaci ´on. Los desarrollos te´oricos han sido implementados tanto en simulaci ´on como en un sistema f´ısico real, por lo que se incluyen resultados experimentales reales.

  • Including virtual constraints in motion planning for anthropomorphic hands

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Perez Ruiz, Alexander; Rosales Gallegos, Carlos
    IEEE International Symposium on Assembly and Manufacturing
    Presentation's date: 2011-05
    Presentation of work at congresses

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    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.

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    Influence of Contact Types and Uncertainties in the Computation of Independent Contact Regions  Open access

     Suarez Feijoo, Raul; Roa, Máximo Alejandro
    IEEE International Conference on Robotics and Automation
    Presentation's date: 2011-05-09
    Presentation of work at congresses

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    Independent Contact Regions provide robustness in front of finger positioning errors during an object grasping. However, different sources of uncertainty may be present like, for instance, the friction model used in grasp planning, indetermination of the friction coefficients, and errors in the model of the object that affect the positions of the boundary points as well as the direction normal to the object surface. These sources have not been previously considered in the computation of the Independent Contact Regions. This paper discusses how to take into account these factors when computing the Independent Contact Regions for discretized objects, i.e. objects described with a cloud or a mesh of points. The considerations provided allow a more robust result for application in grasp synthesis and regrasp planning.

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    Efficient and practical determination of grasping congurations for anthropomorphic hands  Open access

     Claret, Josep Arnau; Suarez Feijoo, Raul
    World Congress of the International Federation of Automatic Control
    Presentation's date: 2011-08-29
    Presentation of work at congresses

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    The paper presents a methodology to rapidly solve the inverse kinematics of anthropomorphic hands, which is particularized for a mechanical hand considering 27 degrees of freedom. Given the contact points and normal directions on an object surface, the proposed algorithm nds the joint values and the wrist position and orientation that make the ngertips satisfy the contact constraints. The approach combines an iterative algorithm with an o - line analysis that allows signi cant reductions of the execution time. The approach has been implemented and the paper includes application examples. The e ectiveness and fast execution of the algorithm is demonstrated with statistical results.

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

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Rosales Gallegos, Carlos; Perez Ruiz, Alexander
    Autonomous robots
    Date of publication: 2011-07
    Journal article

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    The 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.

  • Sistemas multi-mano para tareas complejas de manipulación robotizada

     Peña Pitarch, Esteban; Felipe Blanch, Jose Juan de; Alcelay Larrion, Jose Ignacio; Al Omar Mesnaoui, Anas; Suarez Feijoo, Raul
    Participation in a competitive project

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    Synthesizing grasp configurations with specified contact regions  Open access

     Rosales Gallegos, Carlos; Ros Giralt, Lluis; Porta Pleite, Josep M.; Suarez Feijoo, Raul
    International journal of robotics research
    Date of publication: 2011
    Journal article

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    This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the one presented here allows specifing such contacts between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experi- ments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand.

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    Study of coordinated motions of the human hand for robotic applications  Open access

     Sun, Shao-Chun; Rosales Gallegos, Carlos; Suarez Feijoo, Raul
    IEEE International Conference on Information and Automation
    Presentation's date: 2010
    Presentation of work at congresses

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    This paper presents an acquisition method that comprehensively looks for the mimic configurations of the human hand. The data obtained through this process is further analyzed, transformed, and then used to synthesize a reduced configuration space of a robot anthropomorphic hand. The method rely on a dimensionality reduction technique that provides a new basis of the full configuration space, from which one can select a subset of the vectors forming that basis, and finally obtaining a simpler configuration subspace. These vectors are called Principal Motion Directions, and represent the coordinated motions captured by a sensorized glove on a human hand and transferred to the robot hand. The characteristics and limitations of the subspace are discussed, as well as its application in several scenarios within robotics such as the motion planning of robot hands, where the subspace has been successfully implemented and executed.

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    General environment for human interaction with a robot hand-arm system and associate elements  Open access

     Fortín, José; Suarez Feijoo, Raul
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2010-09-13
    Presentation of work at congresses

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    Software development in robotics is a complex task due to the existing heterogeneity in terms of hardware, communications, and programming languages that are used in current robotic systems. In this work a general environment for the interaction between the human operator and different elements in a robotized cell is presented, such that all the involved elements can be easily managed from a unique interface. The aim of the developments is to provide a common frame that can be ported to different operating systems and can be easily extended or adapted to new devices.

  • Fixturing, grasping and manipulation in assembly and manufacturing

     Suarez Feijoo, Raul
    Date of publication: 2010-09-01
    Book chapter

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  • Contact trajectories for regrasp planning on discrete objects

     Roa Garzón, Máximo; Suarez Feijoo, Raul
    Date of publication: 2010-09-01
    Book chapter

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  • Automatic determination of fixturing points: quality analysis for different number of points and friction values

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Penalba, Francesc
    Date of publication: 2010-09-01
    Book chapter

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  • Robust perceptual organization techniques for analysis of color images  Open access

     Moreno Serrano, Rodrigo
    Defense's date: 2010-11-15
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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    Esta tesis aborda el desarrollo de nuevas técnicas de análisis robusto de imágenes estrechamente relacionadas con el comportamiento del sistema visual humano. Uno de los pilares de la tesis es la votación tensorial, una técnica robusta que propaga y agrega información codificada en tensores mediante un proceso similar a la convolución. Su robustez y adaptabilidad han sido claves para su uso en esta tesis. Ambas propiedades han sido verificadas en tres nuevas aplicaciones de la votación tensorial: estimación de estructura, detección de bordes y segmentación de imágenes adquiridas mediante estereovisión.El mayor problema de la votación tensorial es su elevado coste computacional. En esta línea, esta tesis propone dos nuevas implementaciones eficientes de la votación tensorial derivadas de un análisis en profundidad de esta técnica.A pesar de su capacidad de adaptación, esta tesis muestra que la formulación original de la votación tensorial (a partir de aquí, votación tensorial clásica) no es adecuada para algunas aplicaciones, dado que las hipótesis en las que se basa no se ajustan a todas ellas. Esto ocurre particularmente en el filtrado de imágenes en color. Así, esta tesis muestra que, más que un método, la votación tensorial es una metodología en la que la codificación y el proceso de votación pueden ser adaptados específicamente para cada aplicación, manteniendo el espíritu de la votación tensorial.En esta línea, esta tesis propone un marco unificado en el que se realiza a la vez el filtrado de imágenes y la detección robusta de bordes. Este marco de trabajo es una extensión de la votación tensorial clásica en la que el color y la probabilidad de encontrar un borde en cada píxel se codifican mediante tensores, y en el que el proceso de votación se basa en un conjunto de criterios perceptuales relacionados con el modo en que el sistema visual humano procesa información. Los avances recientes en la percepción del color han sido esenciales en el diseño de dicho proceso de votación.Este nuevo enfoque ha sido efectivo, obteniendo excelentes resultados en ambas aplicaciones. En concreto, el nuevo método aplicado al filtrado de imágenes tiene un mejor rendimiento que los métodos del estado del arte para ruido real. Esto lo hace más adecuado para aplicaciones reales, donde los algoritmos de filtrado son imprescindibles. Además, el método aplicado a detección de bordes produce resultados más robustos que las técnicas del estado del arte y tiene un rendimiento competitivo con relación a la completitud, discriminabilidad, precisión y rechazo de falsas alarmas.Además, esta tesis demuestra que este nuevo marco de trabajo puede combinarse con otras técnicas para resolver el problema de segmentación robusta de imágenes. Los tensores obtenidos mediante el nuevo método se utilizan para clasificar píxeles como probablemente homogéneos o no homogéneos. Ambos tipos de píxeles se segmentan a continuación por medio de una variante de un algoritmo eficiente de segmentación de imágenes basada en grafos. Los experimentos muestran que el algoritmo propuesto obtiene mejores resultados en tres de las cinco métricas de evaluación aplicadas en comparación con las técnicas del estado del arte, con un coste computacional competitivo.La tesis también propone nuevas técnicas de evaluación en el ámbito del procesamiento de imágenes. En concreto, se proponen dos métricas de filtrado de imágenes con el fin de medir el grado en que un método es capaz de preservar los bordes y evitar la introducción de defectos. Asimismo, se propone una nueva metodología para la evaluación de detectores de bordes que evita posibles sesgos introducidos por el post-procesado. Esta metodología se basa en cinco métricas para estimar completitud, discriminabilidad, precisión, rechazo de falsas alarmas y robustez. Por último, se proponen dos nuevas métricas no paramétricas para estimar el grado de sobre e infrasegmentación producido por los algoritmos de segmentación de imágenes.

    This thesis focuses on the development of new robust image analysis techniques more closely related to the way the human visual system behaves. One of the pillars of the thesis is the so called tensor voting technique. This is a robust perceptual organization technique that propagates and aggregates information encoded by means of tensors through a convolution like process. Its robustness and adaptability have been one of the key points for using tensor voting in this thesis. These two properties are verified in the thesis by applying tensor voting to three applications where it had not been applied so far: image structure estimation, edge detection and image segmentation of images acquired through stereo vision.The most important drawback of tensor voting is that its usual implementations are highly time consuming. In this line, this thesis proposes two new efficient implementations of tensor voting, both derived from an in depth analysis of this technique.Despite its adaptability, this thesis shows that the original formulation of tensor voting (hereafter, classical tensor voting) is not adequate for some applications, since the hypotheses from which it is based are not suitable for all applications. This is particularly certain for color image denoising. Thus, this thesis shows that, more than a method, tensor voting can be thought of as a methodology in which the encoding and voting process can be tailored for every specific application, while maintaining the tensor voting spirit.By following this reasoning, this thesis proposes a unified framework for both image denoising and robust edge detection.This framework is an extension of the classical tensor voting in which both color and edginess the likelihood of finding an edge at every pixel of the image are encoded through tensors, and where the voting process takes into account a set of plausible perceptual criteria related to the way the human visual system processes visual information. Recent advances in the perception of color have been essential for designing such a voting process.This new approach has been found effective, since it yields excellent results for both applications. In particular, the new method applied to image denoising has a better performance than other state of the art methods for real noise. This makes it more adequate for real applications, in which an image denoiser is indeed required. In addition, the method applied to edge detection yields more robust results than the state of the art techniques and has a competitive performance in recall, discriminability, precision, and false alarm rejection.Moreover, this thesis shows how the results of this new framework can be combined with other techniques to tackle the problem of robust color image segmentation. The tensors obtained by applying the new framework are utilized to classify pixels into likely homogeneous and likely inhomogeneous. Those pixels are then sequentially segmented through a variation of an efficient graph based image segmentation algorithm. Experiments show that the proposed segmentation algorithm yields better scores in three of the five applied evaluation metrics when compared to the state of the art techniques with a competitive computational cost.This thesis also proposes new evaluation techniques in the scope of image processing. First, two new metrics are proposed in the field of image denoising: one to measure how an algorithm is able to preserve edges, and the second to measure how a method is able not to introduce undesirable artifacts. Second, a new methodology for assessing edge detectors that avoids possible bias introduced by post processing is proposed. It consists of five new metrics for assessing recall, discriminability, precision, false alarm rejection and robustness. Finally, two new non parametric metrics are proposed for estimating the degree of over and undersegmentation yielded by image segmentation algorithms.

  • EUROPEAN CLEARING HOUSE FOR OPEN ROBOTICS DEVELOPMENT

     Suarez Feijoo, Raul
    Participation in a competitive project

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  • DESARROLLO DE SISTEMAS DE GULADIO EN LA BRONCOSCOPIA(GUIBROD) PARA EL DIAGNÓSTICO DEL NÓDULO PULMONAR PERIFÉRICO

     Basañez Villaluenga, Luis; Suarez Feijoo, Raul; Riego Pérez, Albert; Perez Ruiz, Alexander; Rosell Gratacos, Joan
    Participation in a competitive project

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  • Computation of independent contact regions for grasping 3-D objects

     Roa, MA; Suarez Feijoo, Raul
    IEEE transactions on robotics
    Date of publication: 2009-08
    Journal article

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  • Grasp Planning Methodology for 3D Arbitrary Shaped Objects.

     Roa Garzón, Máximo Alejandro
    Defense's date: 2009-06-11
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

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    Regrasp planning for discrete objects  Open access

     Roa Garzón, Máximo; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    Presentation's date: 2009-11-17
    Presentation of work at congresses

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    This paper proposes an algorithm for regrasp planning of 2D and 3D discrete objects, such that the regrasp trajectory ensures a force-closure (FC) grasp while the regrasp motion is performed. The approach takes advantage of a method that quickly explores the grasp space, and relies on the use of independent contact regions and non-graspable regions, which provide large regions of the FC or non-FC subspaces starting from a single sample. Application examples are included to show the relevance of the results.

  • Mixed-model sequencing problem with overload minimization considering workstations dependencies

     Bautista Valhondo, Joaquin; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    Presentation of work at congresses

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    Abstract- This paper reviews the formulation of the Mixed Model Sequencing Problem with Workload minimization (MMSP-W). Two significative models already presented in the literature are describe, showing that they are valid for the case of parallel workstations, but do not properly solve the case of serial workstations. After that, a new model is introduced that is valid for the case of serial workstations. An example is used to illustrate the performance of all the models, and a computational experience was done to verify the applicability of the proposed model using the solver CPLEX and a set of problem instances of small dimension adapted from the literature

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    Regrasp planning in the grasp space using independent regions  Open access

     Roa Garzón, Máximo; Suarez Feijoo, Raul
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    Presentation's date: 2009-10-11
    Presentation of work at congresses

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    This paper presents an approach for quasi-static regrasp planning using n fingers, taking advantage of a method that quickly explores the grasp space for discrete objects. The approach relies on a sampling method, which provides samples of force-closure or non force-closure grasps used to compute regions of the graspable or non-graspable space, respectively. The regrasp contact points generated assure that a force-closure grasp is always possible when performing the regrasp motions. Application examples are included to show the relevance of the results.

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    Mixed-model sequencing problem with overload minimization considering workstations dependencies  Open access

     Bautista Valhondo, Joaquin; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    Presentation's date: 2009-11-17
    Presentation of work at congresses

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    Abstract—This paper reviews the formulation of the Mixed Model Sequencing Problem with Workload minimization (MMSP-W). Two significative models already presented in the literature are describe, showing that they are valid for the case of parallel workstations, but do not properly solve the case of serial workstations. After that, a new model is introduced that is valid for the case of serial workstations. An example is used to illustrate the performance of all the models, and a computational experience was done to verify the applicability of the proposed model using the solver CPLEX and a set of problem instances of small dimension adapted from the literature.

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    Efficient search of obstacle-free paths for anthropomorphic hands  Open access

     Suarez Feijoo, Raul; Rosell Gratacos, Joan; Perez Ruiz, Alexander; Rosales Gallegos, Carlos
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    Presentation's date: 2009-10-12
    Presentation of work at congresses

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    The planning of collision-free motions of a handarm system to reach a grasp or preshape configuration is not a simple issue due to the high number of involved degrees of freedom. This paper presents an efficient sampling-based path planner that copes with this issue by considering a reduced search space. The dimension of this space is not fixed but it is iteratively increased according to the difficulty of the task at hand. Initially the search space is 1-dimensional along the line defined by the initial and goal hand configurations (by construction those configurations always belong to the search space), and then its dimension is increased by iteratively adding principal motion directions (that couple the finger motions), trying in this way to produce hand movements through anthropomorphic natural postures.

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    Efficient determination of four-point form-closure optimal constraints of polygonal objects  Open access

     Cornellà, Jordi; Suarez Feijoo, Raul
    IEEE transactions on automation science and engineering
    Date of publication: 2009-01
    Journal article

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    This paper proposes a new and more efficient solution to the problem of determining optimal form-closure constraints of polygonal objects using four contacts. New grasp parameters are determined based only on the directions of the applied forces, which are then used to determine the optimal grasp. Given a set of contact edges, using an analytical procedure a solution that is either the optimal one or is very close to it is obtained (only in this second case an iterative procedure is needed to find a root of a nonlinear equation). This procedure is used for an efficient determination of the optimal grasp on the whole object. The algorithms have been implemented and numerical examples are shown. Note to Practitioners—This paper presents an algorithm that improves previous approaches in terms of efficiency in the determination of the optimal object constraint maximizing the minimum wrench that the object can support in any direction. The problem can always be solved using numerical optimization techniques but when time is relevant an efficient algorithm becomes of interest. Practical applications include optimal determination of fixtures and object grasps.

  • Teleoperation

     Basañez Villaluenga, Luis; Suarez Feijoo, Raul
    Date of publication: 2009
    Book chapter

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  • Analysis of fixturing quality for a variable number of fixturing points and friction values

     Penalba, Francesc; Rosell Gratacos, Joan; Suarez Feijoo, Raul
    IEEE International Symposium on Assembly and Manufacturing
    Presentation's date: 2009-11-17
    Presentation of work at congresses

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    Motion planning for high DOF anthropomorphic hands  Open access

     Rosell Gratacos, Joan; Suarez Feijoo, Raul; Rosales Gallegos, Carlos; Garcia, Jorge Alberto; Perez Ruiz, Alexander
    IEEE International Conference on Robotics and Automation
    Presentation's date: 2009
    Presentation of work at congresses

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    The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, 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 anthropomorphic mechanical hand, and some examples are included to illustrate its validity.