Arm-hand movement: imitation of human natural gestures with tenodesis effect

e-Archivo Repository

Show simple item record

dc.contributor.author Nguyen, Kien-Cuong
dc.contributor.author Perdereau, Véronique
dc.date.accessioned 2012-03-27T16:20:48Z
dc.date.available 2012-03-27T16:20:48Z
dc.date.issued 2011-12
dc.identifier.bibliographicCitation 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11) (pp. 1459-1464). IEEE, 2011
dc.identifier.isbn 978-1-61284-454-1
dc.identifier.issn 2153-0858
dc.identifier.uri http://hdl.handle.net/10016/13963
dc.description Proceedings of: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), September 25-30, 2011, San Francisco, USA
dc.description.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.
dc.description.sponsorship European Community's Seventh Framework Program
dc.description.sponsorship The research leading to these results has been supported by the HANDLE project, which has received funding from the European Communitys Seventh Framework Programme (FP7/2007-2013) under grant agreement ICT 231640.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher IEEE
dc.rights © IEEE
dc.title Arm-hand movement: imitation of human natural gestures with tenodesis effect
dc.type conferenceObject
dc.relation.publisherversion http://dx.doi.org/10.1109/IROS.2011.6094694
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi 10.1109/IROS.2011.6094694
dc.rights.accessRights openAccess
dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/231640
dc.type.version acceptedVersion
dc.relation.eventdate September 25-30, 2011
dc.relation.eventplace San Francisco, USA
dc.relation.eventtitle 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11)
dc.relation.eventtype proceeding
dc.identifier.publicationfirstpage 1459
dc.identifier.publicationlastpage 1464
dc.identifier.publicationtitle 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'11)
 Find Full text

Files in this item

*Click on file's image for preview. (Embargoed files's preview is not supported)


This item appears in the following Collection(s)

Show simple item record