Publication:
A new finger inverse kinematics method for an anthropomorphic hand

Simple item page
dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorBensalah, Choukri
dc.contributor.authorAbderrahim Fichouche, Mohamed
dc.contributor.authorGonzález Gómez, Juan
dc.date.accessioned2012-04-23T15:58:25Z
dc.date.available2012-04-23T15:58:25Z
dc.date.issued2011
dc.descriptionProceedings of: 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), December 7-11, 2011, Phuket (Thailand)
dc.description.abstractIn this paper, a new method for solving the inverse kinematics of the fingers of an anthropomorphic hand is proposed. Our approach combines a Modified Selectively Damped Least Squares (MSDLS) and Jacobian Transpose (JT) methods. The main advantages of this method with respect to the ordinary SDLS are: optimal Cartesian increment, shorter computation time and better response near singularity configurations. The original JT method exhibits a strong shattering with small magnitudes which occurs near the goal position or in the case of unreachable positions. Like in the SDLS, a damping factor was applied to each input singular vector to filter the undesirable behavior. A comparative study between the MSDLS applied to the inverse Jacobian and JT matrix is developed to investigate manipulator performance in critical end-point positions of the index finger of a commercial anthropomorphic robotic hand and also to evaluate the impact of the increment length on computation time.
dc.description.sponsorshipEuropean Community's Seventh Framework Program
dc.format.mimetypeapplication/pdf
dc.identifier.bibliographicCitation2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), IEEE, 2011. Pp. 1314 - 1319
dc.identifier.doi10.1109/ROBIO.2011.6181470
dc.identifier.publicationfirstpage1314
dc.identifier.publicationlastpage1319
dc.identifier.publicationtitle2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
dc.identifier.urihttps://hdl.handle.net/10016/14116
dc.language.isospa
dc.publisherIEEE
dc.relation.eventdateDecember 7-11, 2011
dc.relation.eventplacePhuket (Thailand)
dc.relation.eventtitle2011 IEEE International Conference on Robotics and Biomimetics (ROBIO)
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/FP7/231640
dc.relation.publisherversionhttp://dx.doi.org/10.1109/ROBIO.2011.6181470
dc.rights© IEEE
dc.rights.accessRightsopen access
dc.subject.ecienciaRobótica e Informática Industrial
dc.titleA new finger inverse kinematics method for an anthropomorphic hand
dc.typeconference proceedings*
dc.type.hasVersionAM*
dspace.entity.typePublication
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
finger_ICRB_2011_ps.pdf
Size:
462.43 KB
Format:
Adobe Portable Document Format
Download
Collections
DISA - LR - Comunicaciones en Congresos y otros eventos
OpenAIRE: Open Access Infrastructure for Research in Europe