Consideration of velocity terms in finger-arm coordination motion planning

Shigeki Sugano, H. Suzuki, O. Matsumoto, S. Mutoh, I. Kato

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    This paper introduces a method of planning the coordination of the robot fingers and an arm in consideration of velocity terms when performing work which can be expressed as a sequence of continuous changes in positioning points of robot finger tips. The search procedure for planning is divided into two steps. One is the determination of the determination of task allocation to the fingers and arm. The other is the determination of the introduction point of the finger-arm coordination motions. As a first step evaluation is performed only by moving the distance to decrease the calculation time. As a second step, evaluation function includes the number of processable work points and the rate of finger-arm coordination motions. This method was tested on the piano plying work using multiple degrees of freedom anthropomorphic robot.

    Original languageEnglish
    Title of host publicationIFAC Proceedings Series
    PublisherPubl by Pergamon Press Inc
    Pages359-364
    Number of pages6
    Edition10
    Publication statusPublished - 1989
    EventRobot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium - Karlsruhe, FRG
    Duration: 1988 Oct 51988 Oct 7

    Other

    OtherRobot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium
    CityKarlsruhe, FRG
    Period88/10/588/10/7

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    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Sugano, S., Suzuki, H., Matsumoto, O., Mutoh, S., & Kato, I. (1989). Consideration of velocity terms in finger-arm coordination motion planning. In IFAC Proceedings Series (10 ed., pp. 359-364). Publ by Pergamon Press Inc.