| Tipo di tesi |
Tesi di laurea specialistica |
| Autore |
ALTOBELLI, ALESSANDRO
|
| URN |
etd-09132011-100424 |
| Titolo |
Design Optimization For Grasping And Manipulation Systems: A Synergy-Based Approach |
| Settore scientifico disciplinare |
INGEGNERIA, FACOLTA' |
| Corso di studi |
INGEGNERIA DELLA AUTOMAZIONE |
| Commissione |
| Nome Commissario |
Qualifica |
| Prof. Ing. Antonio Bicchi |
relatore |
| Prof. Ing. Marco Gabiccini |
relatore |
|
| Parole chiave |
- sinergie
- ottimizzazione
- sistemi di manipolazione
- presa
- sinergies
-
optimization
- manipulation systems
- grasp
|
| Data inizio appello |
2011-10-07 |
| Disponibilità |
mixed |
| Data di rilascio | 2051-10-07 |
|---|
Riassunto analitico
Abstract:Recent robotic and neuro-science studies introduced the concept of synergies as coordinate finger displacements observed in object human hand manipulation tasks. Considering the functionality high level of human hand, a new scenario in manipulation systems to reduce hardware/software complexity and augment functionality. The goal of this work is to show that is possible to obtain synergies with a numeric routine that minimizes an suitable cost index. Some benchmark cases are presented to validate the routine and to choose a more complete cost index, which takes in account the manipulation tasks and grasping forces; finally, the human synergies obtained with a motion acquisition system are compared with the numeric synergies found by the routine within an experimental example.
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