DocumentCode :
3567938
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
Volume :
2
fYear :
2014
Firstpage :
577
Lastpage :
584
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Informatics in Control, Automation and Robotics (ICINCO), 2014 11th International Conference on
Type :
conf
Filename :
7049653
Link To Document :
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