Motion planning for high DOF anthropomorphic hands

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 4025-4030

  Rosell, J ^a   Suarez R ^a   Rosales, C ^a,b   Garcia J A ^a   Perez A ^a,c  

^a UNIVERSITAT POLITÈCNICA DE CATALUNYA   (Spain)

^b INSTITUT DE ROBÒTICA I INFORMÀTICA INDUSTRIAL CSIC UPC   (Spain)

^c ESCUELA COLOMBIANA DE INGENIERÍA JULIO GARAVITO   (Colombia)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS;

ANTHROPOMORPHIC HAND; HAND MOVEMENT; HUMAN HAND MOTIONS; MECHANICAL HANDS; MOTION DIRECTION; SAMPLING-BASED; SENSORIZED GLOVE; SPACE DIMENSIONS;

MOTION PLANNING;

EID: 76249111222     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152300     Document Type: Conference Paper

References (33)

1. E. Peña, J. Yang, and K. Abdel-Malek "Santos™ hand: A 25-degreeof-freedom model," in Proc. of SAE Digital Human Modeling for Design and Engineering, 2005.
2. S. C. Jacobsen, J. E. Wood, D. F. Knutti, and K. B. Biggers, "The UTAH/M.I.T. dextrous hand: Work in progress," The Int. J. of Robotics Research, vol. 3, no. 4, pp. 21-50, December 1984.
3. A. Caffaz and G. Cannata, "The design and development of the DISTHand dextrous gripper," in Proc. of the IEEE Int. Conf. on Robotics and Automation, vol. 3, 1998, pp. 2075-2080.
4. J. P. Gazeau, S. Zehloul, M. Arsicault, and J. P. Lallemand, "The LMS hand: force and position controls in the aim of the fine manipulation of objects," in Proc. of the IEEE Int. Conf. on Robotics and Automation, vol. 3, 2001, pp. 2642-2648.
5. J. Butterfass, M. Fischer, M. Grebenstein, S. Haidacher, and G. Hirzinger, "Design and experiences with DLR hand II," in Proc. of the World Automation Congress, vol. 15, 2004, pp. 105-110.
6. R. Suárez and P. Grosch, "Mechanical hand MA-I as experimental system for grasping and manipulation," in Video Proc. of the IEEE Int. Conf. on Robotics and Automation, Barcelona, 2005.
7. G. A. Bekey, R. Tomovic, and I. Zeljkovic, Control architecture for the Belgrade/USC hand. Springer-Verlag New York, Inc., 1990, pp. 136-149.
8. M. S. Ali, K. J. Kyriakopoulos, and H. E. Stephanou, "The kinematics of the anthrobot-2 dextrous hand," in Proc. of the IEEE Int. Conf. on Robotics and Automation, 1993, pp. 705-710 vol.3.
9. L.-R. Lin and H.-P. Huang, "Mechanism design of a new multifingered robot hand," in Proc. of the IEEE Int. Conf. on Robotics and Automation, vol. 2, 1996, pp. 1471-1476.
10. C. S. Lovchik and M. A. Diftler, "The robonaut hand: a dexterous robot hand for space," in Proc. of the IEEE Int. Conf. on Robotics and Automation, vol. 2, 1999, pp. 907-912.
11. Shadow Robot Company, "Design of a dextrous hand for advanced clawar applications," in Proc. of the Climbing and Walking Robots and the Supporting Technologies for Mobile Machines: CLAWAR, 2003, pp. 691-698.
12. H. Kawasaki, T. Komatsu, and K. Uchiyama, "Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II," IEEE/ASME Trans. on Mechatronics, vol. 7, no. 3, pp. 296-303, 2002.
13. F. Lotti, P. Tiezzi, G. Vassura, L. Biagiotti, G. Palli, and C. Melchiorri, "Development of UB hand 3: Early results," in Proc. of the IEEE Int. Conf. on Robotics and Automation, 2005, pp. 4488-4493.
14. A. Bicchi, "Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity," IEEE Trans. on Robotics and Automation, vol. 16, no. 6, pp. 652-662, 2000.
15. L. Biagiotti, F. Lotti, C. Melchiorri, and G. Vassura, "How far is the human hand? a review on anthropomorphic robotic end-effectors," University of Bologna, Tech. Rep., 2004.
16. M. F. M. Santello and J. F. Soechting, "Postural hand synergies for tool use," The Journal of Neuroscience, vol. 18, no. 23, pp. 10 105-10 115, December 1998.
17. M. Ciocarlie, C. Goldfeder, and P. Allen, "Dimensionality reduction for hand-independent dexterous robotic grasping," in Proc. of the IEEE/RSJ Conf. on Intelligent Robots and Systems, 2007, pp. 3270-3275.
18. A. Tsoli and O. C. Jenkins, "2d subspaces for user-driven robot grasping," in Proc. of the RSS 2007 Workshop on Robot Manipulation: Sensing and Adapting to the Real World, 2007.
19. A. Safonova, J. K. Hodgins, and N. S. Pollard, "Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces," ACM Trans. Graph., vol. 23, no. 3, pp. 514-521, 2004.
20. Schunk GmbH & Co. KG, "Schunk anthropomorphic hand," http://www.schunk.com/, 2006.
21. J. I.T., Principal Component Analysis. Upper Saddle River, NJ, USA: Springer Series in Statistics, 2002.
22. L. E. Kavraki and J.-C. Latombe, "Randomized preprocessing of configuration for fast path planning," in Proc. of the IEEE Int. Conf. on Robotics and Automation, vol. 3, 1994, pp. 2138-2145.
23. J. J. Kuffner and S. M. LaValle, "RRT-connect: An efficient approach to single-query path planning," in Proc. of the IEEE Int. Conf. on Robotics and Automation, 2000, pp. 995-1001.
24. L.-Q. Lee, J. G. Siek, and A. Lumsdaine, "The generic graph component library," in 14th ACM SIGPLAN Conf. on Object-oriented Programming, Systems, Languages and Applications., 1999, pp. 399-414.
25. M. C. L. Eric Larsen, Stefan Gottschalk and D. Manocha, "Fast proximity queries with swept sphere volumes," in Proc. of Int. Conf. on Robotics and Automation, 2000, pp. 3719-3726.
26. A. Yershova and S. LaValle, "Improving motion planning algorithms by efficient nearest-neighbor searching," IEEE Trans. on Robotics, vol. 23(1), pp. 151-157, 2006.
27. J. Rosell and A. Pérez, "Sampling C-obstacles border using a filtered deterministic sequence," Technical report IOC-UPC-DT-P-11-2008, Tech. Rep., September 2008.
28. R. Geraerts and M. H. Overmars, "Sampling and node adding in probabilistic roadmap planners," Robotics and Autonomous Systems, vol. 54, p. 165173, 2006.
29. M. S. Branicky, S. M. LaValle, K. Olson, and L. Yang, "Quasirandomized path planning," in Proc. of the IEEE Int. Conf. on Robotics and Automation, 2001, pp. 1481-1487.
30. S. M. LaValle, M. S. Branicky, and S. R. Lindemann, "On the relationship between classical grid search and probabilistic roadmaps," Int. J. of Robotics Research, vol. 23, no. 7-8, pp. 673-692, 2004.
31. D. Hsu, J.-C. Latombe, and H. Kurniawati, "On the probabilistic foundations of probabilistic roadmap planning," Int. Journal of Robotics Research, vol. 25, no. 7, pp. 627-643, 2006.
32. J. Rosell, M. Roa, A. Pérez, and F. García, "A general deterministic sequence for sampling d-dimensional configuration spaces," J. of Intelligent and Robotic Systems, vol. 50, no. 4, pp. 361-374, 2007.
33. S. R. Lindemann, A. Yershova, and S. M. LaValle, "Incremental grid sampling strategies in robotics," in Proc. of the Sixth Int. Workshop on the Algorithmic Foundations of Robotics, 2004, pp. 297-312.