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

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Abstract

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.

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Authors and Affiliations

  1. Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain

    Jan Rosell, Raúl Suárez, Carlos Rosales & Alexander Pérez

  2. Institut de Robòtica i Informàtica Industrial (IRI), CSIC-UPC, Barcelona, Spain

    Carlos Rosales

  3. Escuela Colombiana de Ingeniería “Julio Garavito”, Bogotá D.C., Colombia

    Alexander Pérez

Authors
  1. Jan Rosell
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  2. Raúl Suárez
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  3. Carlos Rosales
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  4. Alexander Pérez
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Corresponding author

Correspondence to Jan Rosell.

Additional information

Work partially supported by the Spanish Government through the projects DPI2010-15446, DPI2008-02448 and PI09/90088.

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Rosell, J., Suárez, R., Rosales, C. et al. Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures. Auton Robot 31, 87–102 (2011). https://doi.org/10.1007/s10514-011-9232-5

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  • DOI: https://doi.org/10.1007/s10514-011-9232-5

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