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Planning hand-arm grasping motions with human-like appearance

Author
García, N.; Suarez, R.; Rosell, J.
Type of activity
Presentation of work at congresses
Name of edition
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2018
Presentation's date
2018-10-03
Book of congress proceedings
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Towards a robotic society: October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre
First page
3517
Last page
3522
DOI
https://doi.org/10.1109/IROS.2018.8594432 Open in new window
Project funding
Autonomous dexterous robots as coworkers with human operators
Repository
http://hdl.handle.net/2117/128586 Open in new window
URL
http://ieeexplore.ieee.org.recursos.biblioteca.upc.edu/stamp/stamp.jsp?tp=&arnumber=8594432&isnumber=8593358 Open in new window
Abstract
This paper addresses the problem of obtaining human-like motions on hand-arm robotic systems performing pick-and-place actions. The focus is set on the coordinated movements of the robotic arm and the anthropomorphic mechanical hand, with which the arm is equipped. For this, human movements performing different grasps are captured and mapped to the robot in order to compute the human hand synergies. These synergies are used to reduce the complexity of the planning phase by reducing the dimension...
Citation
García, N.; Suarez, R.; Rosell, J. Planning hand-arm grasping motions with human-like appearance. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems". 2018, p. 3517-3522.
Keywords
Complexity theory, Grasping, Manipulators, Planning, Robot kinematics, Trajectory
Group of research
SIR - Service and Industrial Robotics

Participants