Hybrid Motion Planning Approach for Robot Dexterous Hands

Autor(es)

Caurin, Glauco A. P. ^[1] ; Pedro, Leonardo M. ^[1]

Afiliação do(s) autor(es)

^[1] Univ Sao Paulo, Engn Sch Sao Carlos EESC, BR-13566590 Sao Carlos, SP - Brazil

• Tipo de documento: Artigo Científico
• Fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering; v. 31, n. 4, p. 289-296, OCT-DEC 2009.
• Citações Web of Science: 2

Resumo

This paper presents a manipulation planning approach for robot hands that enables the generation of finger trajectories. The planner is based on a hybrid approach that combines discrete-continuous kinematics using a fully discrete transition system. One of the main contributions of this work consists in the representation of the universe of different submodel combinations, as states in a discrete transition system. The manipulated object geometry is taken into account and the system composed by the object and the hand is modeled as a set of closed kinematical chains. The methodology enables the synthesis of complex manipulation trajectories, when one or more fingers change the contact condition with the object. Contact condition changes include rolling contact, sliding contact, contact loss and contact establishment. Tests were carried out employing a three finger manipulation task in computer simulations and with an experimental setup. (AU)

• Processo FAPESP: 06/06597-5 - Kanguera: olho local - mão distante: WebLab sobre operação de mão mecatrônica baseada em visão
• Beneficiário: Adilson Gonzaga
• Modalidade de apoio: Auxílio à Pesquisa - Tecnologia da Informação no Desenvolvimento da Internet Avançada - TIDIA