Publication: Arm-hand movement: imitation of human natural gestures with tenodesis effect
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ISSN: 2153-0858
ISBN: 978-1-61284-454-1
Publication date
2011-12
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IEEE
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Abstract
For an anthropomorphic arm-hand robot, grasping and in-hand manipulating an object can be realized with numerous approach trajectories and grasping configurations.
The redundancy at this level of the tasks is due to a large
number of degrees-of-freedom (DOFs) of the arm-hand system.
This redundancy constitutes a big challenge to the planning
and control tasks of the robot. For this kind of tasks, human
has his own choices privileging certain configurations over the
others. These choices come from a long learning process which implicitly takes into account the mechanical constraints of the
system. In this work, we concentrate our effort on deciphering
certain mechanical constraints, ”tenodesis” phenomenon in particular, in order to solve the redundancy and imitate the human natural gestures in the tasks of grasping or in-hand
manipulation.
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Proceedings of: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September 25-30, 2011, San Francisco, USA
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Bibliographic citation
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11) (pp. 1459-1464). IEEE, 2011