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Efficient search of obstacle-free paths for anthropomorphic hands
Suárez Feijóo, Raúl; Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Rosales Gallegos, Carlos
Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
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.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robotics
Robòtica -- Congressos
Classificació INSPEC::Automation::Robots
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
IEEE Press. Institute of Electrical and Electronics Engineers
         

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