Paper Info
Title
Planning And Control During Reach To Grasp Using The Three Predominant Ub Hand Iv Postural Synergies
Abstract
In this paper, a method to derive the three predominant synergies and their temporal weights for planning grasps of the UB Hand IV (University of Bologna Hand, version IV) is proposed. The method adopted to define the postural synergies from experiments is based on the kinematic structure of the robotic hand and on the taxonomy of the grasps of common objects. The control strategy, exploiting postural synergies, that drives the hand during reach to grasp is further described. During prehension the hand moves continuously in a configuration space of highly reduced dimensionality with respect to its degrees of freedom. The experiments confirm that the UB Hand IV works efficiently in a synergy based framework for grasp planning and prehension control. It is shown that the introduction of the third predominant synergy significantly improves the grasping synthesis and performance, especially for the adduction/abduction motion of the thumb.
Year
DOI
Venue
2012
10.1109/ICRA.2012.6224922
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)
Keywords
Field
DocType
configuration space,principal component analysis,robots,indexation,degree of freedom,indexes
Grasp planning,Thumb,GRASP,Kinematics,Robotic hand,Artificial intelligence,Engineering,Robot,Manipulator kinematics,Configuration space
Conference
Volume
Issue
ISSN
2012
1
1050-4729
Citations 
PageRank 
References 
5
0.52
8
Authors
4
Name
Order
Citations
PageRank
Fanny Ficuciello112216.80
Gianluca Palli226829.98
Claudio Melchiorri377988.97
Bruno Siciliano419220.09