Relative position-based mapping for telemanipulation of dexterous robot hands
Heng Wang
Low, K.H.
Feng Gong
Wang, M.Y.
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore;
This paper appears in: Robotics, Automation and Mechatronics, 2004 IEEE Conference on
Publication Date: 1-3 Dec. 2004
Volume: 1,
On page(s): 19- 24 vol.1
ISSN:
ISBN: 0-7803-8645-0
INSPEC Accession Number: 8411991
Current Version Published: 2005-06-13
Abstract
Three methods have been commonly used for telemanipulation: joint angle mapping, pose mapping and fingertip position mapping. However, none of the methods result in satisfactory performance if the robot hand is non-anthropomorphic. This paper introduces a, new concept for mapping based on the relative positions between fingertips. A brief implementation of this method for three-fingered robot hand is presented, followed by two case studies. By transferring the information of relative positions from human hand to robot hand, the proposed method is able to produce better results if compared with those of fingertip position mapping.
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