Kinematic redundancy in robot grasp synthesis. An efficient tree-based representation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2005, Issue , 2005, Pages 1184-1189

  Fernández, César ^a   Reinoso, Óscar ^a   Vicente, Asunción ^a   Aracil, Rafael ^b  

^a MIGUEL HERNÁNDEZ UNIVERSITY   (Spain)

^b UNIVERSIDAD POLITÉCNICA DE MADRID   (Spain)

Author keywords

Grasp synthesis; Inverse kinematics; Machine learning; Redundancy resolution

Indexed keywords

GRIPPERS; HIERARCHICAL SYSTEMS; INVERSE KINEMATICS; LEARNING SYSTEMS; ROBOTIC ARMS; TREES (MATHEMATICS);

GRASP SYNTHESIS; OPTIMUM CONFIGURATION; REDUNDANCY RESOLUTION; ROBOT JOINTS;

ROBOTICS;

EID: 33846182982     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2005.1570276     Document Type: Conference Paper

References (12)

1. C. Schaeffer and T. May, "Care-o-bot: a system for assisting elderly or disabled persons in home environments," in Assistive Technology on the Threshold of the New Millennium. C. Bhler and H. Knops, Eds. IOS Press, 1999, pp. 340-345.
2. R.J. Anderson, "Autonomous, teleoperated, and shared control for robot systems," in Proceedings of the 1996 IEEE Int. Conf. on Robotics and Automation, 1996, pp. 2025-2032.
3. V.D. Nguyen, "The synthesis of stable force-closure grasps," Technical report AI-TR-905, MIT Artificial Intelligence Laboratory, 1986.
4. th IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Las Vegas, 2003, vol.3, pp.3680-3685.
5. th Int. Symp. Intelligent Robotics, 1999, pp. 149-155.
6. rd IEEE Conference on Decision and Control, 1984, pp.1359-1363.
7. J. Baillieul, "Kinematic programming alternatives for redundant manipulators," in Proc. IEEE Int. Conf. on Robotics and Automation, 1985, pp. 722-728.
8. Y. Nakamura and H. Hanafusa, "Inverse kinematics solutions with singularity robustness for robot manipulator control," in Journal of Dynamic Systems, Measurement and Control, 108, 1996, pp. 163-171.
9. G.S. Dordevic, M. Rasic and R. Shadmehr, "Parametric models for motion planning and control in biomimetic robotics", in IEEE Transactions on Robotics, in press (paper no. W03-017R).
10. N.S. Pollard, "Synthesizing grasps from generalized prototypes," Proc. of the IEEE Int. Conf. on Robotics and Automation, 1996, pp. 2124-2130.
11. C. Fernandez, A. Vicente, O. Reinoso and R. Aracil, "A decision tree based approach to grasp synthesis," in Proc. Int. Conf. on Intelligent Manipulation and Grasping, 2004, pp. 486-491.
12. I.H. Witten and E. Frank, "Data mining," Morgan Kaufmann, 2000.