Title :
A model for robotic hand based on Fibonacci sequence
Author :
Lai, Anna Chiara ; Loreti, Paola ; Vellucci, Pierluigi
Author_Institution :
Dipartimento di Scienze di Base e Applicate per l´Ingegneria, Sezione di Matematica, Sapienza Università di Roma, Italy
Abstract :
We study a robot hand model involving Fibonacci sequence. Fingers are modeled via hyper-redundant planar manipulators. Binary controls rule the dynamics of the hand, in particular the extension and the rotation of each phalanx. By estabilishing a relation with Iterated Function Systems, we investigate the reachable workspace and its convex hull. Finally, we give an explicit characterization of the convex hull of the reachable workspace in a particular case.
Keywords :
Artificial intelligence; Junctions; Manipulators; Robot kinematics; Thumb; Transmission line matrix methods; Discrete Control; Fibonacci Sequence; Redundant Manipulator; Robot Hand;
Conference_Titel :
Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on