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Exploiting Redundancy in Closed-Loop Inverse Kinematics for Dexterous Object Manipulation

被引：0
|
作者：
Lippiello, Vincenzo [1 ]
Ruggiero, Fabio [1 ]
Villani, Luigi [1 ]
机构：
[1] Univ Naples Federico 2, Dipartimento Informat & Sistemist, I-80125 Naples, Italy
来源：
ICAR: 2009 14TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, VOLS 1 AND 2 | 2009年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a kinematic model for motion coordination of a redundant multi-(fi)ngered robotic hand is derived, which allows to compute the object pose from the joint variables of each (fi)nger as well as from a suitable set of contact variables. Then, a prioritized inverse kinematics scheme with redundancy resolution, both with inverse and transpose Jacobian matrix, is developed. This algorithm can be used for kinematic control as well as a local planning method for dexterous manipulation. A simulation case study is presented to demonstrate the effectiveness of the proposed approach.
引用
收藏
页码：778 / 783
页数：6
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