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Using hand synergies as an optimality criterion for planning human-like motions for mechanical hands

Author
Rosell, J.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
14th IEEE-RAS International Conference on Humanoid Robots
Date of publication
2014
Presentation's date
2014-11-18
Book of congress proceedings
Proceedings of the IEEE-RAS 2014 International Conference on Humanoid Robots
First page
232
Last page
237
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Repository
http://hdl.handle.net/2117/26584 Open in new window
Abstract
The use of anthropomorphic mechanical hands allows the execution of complex manipulation tasks and, therefore, its use is increasing, both in humanoid robots and mobile manipulators. The planning of the motions of these hands is not easy due to the high number of degrees of freedom (DOF) involved. Even when they may be mechanically independent, these degrees of freedom can be artificially coupled in order to mimic the human hand motions by using synergies, which in its turn results in a lower su...
Citation
Rosell, J.; Suarez, R. Using hand synergies as an optimality criterion for planning human-like motions for mechanical hands. A: IEEE-RAS International Conference on Humanoid Robots. "Proceedings of the IEEE-RAS 2014 International Conference on Humanoid Robots". Madrid: Institute of Electrical and Electronics Engineers (IEEE), 2014, p. 232-237.
Group of research
SIR - Service and Industrial Robotics

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