Efficient search of obstacle-free paths for anthropomorphic hands

Authors:
R. Suárez;J. Rosell;A. Pérez;C. Rosales
Affiliations:
Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain;Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain;Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain;Institute of Industrial and Control Engineering, Technical University of Catalonia, Barcelona, Spain and Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Bogot`a D.C., Colomb ...
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
Cited 2

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Hand Posture Subspaces for Dexterous Robotic Grasping

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Motion planning for high DOF anthropomorphic hands

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation

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

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Path planning for grasping operations using an adaptive PCA-based sampling method

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Abstract

The planning of collision-free motions of a hand-arm 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.