A Model for Robotic Hand Based on Fibonacci Sequence

Anna Chiara Lai, Paola Loreti, Pierluigi Vellucci

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.

References

  1. Aghili, F. and Parsa, K. (2006). Design of a reconfigurable space robot with lockable telescopic joints. In Conference IEEE/RSJ, International Conference on Intelligent Robots and Systems.
  2. Anderson, V. V. and Horn, R. C. (1967). Tensor-arm manipulator design. American Society of Mechanical Engineers.
  3. Andersson, S. B. (2008). Discretization of a continuous curve. IEEE Transactions on Robotics.
  4. Chirikjian, G. S. and Burdick, J. W. (1990). An obstacle avoidance algorithm for hyper-redundant manipulators. IEEE International Conference on Robotics and Automation.
  5. Chirikjian, G. S. and Burdick, J. W. (1995). The kinematics of hyper-redundant robot locomotion. IEEE International Conference on Robotics and Automation.
  6. EbertUphoff, I. and Chirikjian, G. S. (1996). Inverse kinematics of discretely actuated hyper-redundant manipulators using workspace densities. IEEE International Conference on Robotics and Automation.
  7. Hamilton, R. and Dunsmuir, R. (2002). Radiographic assessment of the relative lengths of the bones of the fingers of the human hand. Journal of Hand Surgery (British and European Volume), 27(6):546-548.
  8. Lai, A. C. and Loreti, P. (2011). Robot's finger and expansions in non-integer bases. Networks and Heterogeneus Media.
  9. Lai, A. C. and Loreti, P. (2013). From discrete to continuous reachability for a robots finger model. Communications in Applied and Industrial Mathematics, 3(2).
  10. Lai, A. C., Loreti, P., and Vellucci, P. (2014). A fibonacci control system. ArXiv preprint arXiv:1403.2882v3.
  11. Lichter, M. D., Sujan, V. A., and Dubowsky, S. (2002). Computational issues in the planning and kinematics of binary robots. IEEE International Conference on Robotics and Automation.
  12. Moravec, H., Easudes, C. J., and Dellaert, F. (1996). Fractal branching ultra-dexterous robots (bush robots). Technical report, NASA Advanced Concepts Research Project.
Download


Paper Citation


in Harvard Style

Lai A., Loreti P. and Vellucci P. (2014). A Model for Robotic Hand Based on Fibonacci Sequence . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 577-584. DOI: 10.5220/0005115205770584


in Bibtex Style

@conference{icinco14,
author={Anna Chiara Lai and Paola Loreti and Pierluigi Vellucci},
title={A Model for Robotic Hand Based on Fibonacci Sequence},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={577-584},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005115205770584},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Model for Robotic Hand Based on Fibonacci Sequence
SN - 978-989-758-040-6
AU - Lai A.
AU - Loreti P.
AU - Vellucci P.
PY - 2014
SP - 577
EP - 584
DO - 10.5220/0005115205770584