Tesi etd-09132011-100424 |
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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
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Relatori
relatore Prof. Gabiccini, Marco
relatore Prof. Bicchi, Antonio
relatore Prof. Bicchi, Antonio
Parole chiave
- optimization
- grasp
- manipulation systems
- ottimizzazione
- presa
- sinergie
- sinergies
- sistemi di manipolazione
Data inizio appello
07/10/2011
Consultabilità
Non consultabile
Data di rilascio
07/10/2051
Riassunto
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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