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Tesi etd-09132011-100424


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
Struttura
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Commissione
relatore Prof. Gabiccini, Marco
relatore Prof. Bicchi, Antonio
Parole chiave
  • sinergie
  • ottimizzazione
  • sistemi di manipolazione
  • presa
  • sinergies
  • optimization
  • manipulation systems
  • grasp
Data inizio appello
07/10/2011;
Disponibilità
parziale
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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