A Model for Robotic Hand Based on Fibonacci Sequence

Anna Chiara Lai; Paola Loreti; Pierluigi Vellucci

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Paper

A Model for Robotic Hand Based on Fibonacci Sequence

Topics: Control and Supervision Systems; Modeling, Simulation and Architecture

In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 577-584, 2014 , Vienna, Austria

Authors: Anna Chiara Lai ; Paola Loreti and Pierluigi Vellucci

Affiliation: Sapienza Università di Roma, Italy

Keyword(s): Robot Hand, Redundant Manipulator, Fibonacci Sequence, Discrete Control.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Robotics and Automation

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.

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Paper citation in several formats:

Lai, A. C., 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 1: ICINCO; ISBN 978-989-758-040-6; ISSN 2184-2809, SciTePress, pages 577-584. DOI: 10.5220/0005115205770584

@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 1: ICINCO},
year={2014},
pages={577-584},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005115205770584},
isbn={978-989-758-040-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - A Model for Robotic Hand Based on Fibonacci Sequence
SN - 978-989-758-040-6
IS - 2184-2809
AU - Lai, A.
AU - Loreti, P.
AU - Vellucci, P.
PY - 2014
SP - 577
EP - 584
DO - 10.5220/0005115205770584
PB - SciTePress