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.
A Model for Robotic Hand Based on Fibonacci Sequence / Lai, ANNA CHIARA; Loreti, Paola; Vellucci, Pierluigi. - 2:(2014), pp. 577-584. (Intervento presentato al convegno 11th International Conference on Informatics in Control, Automation and Robotics tenutosi a Vienna; Austria) [10.5220/0005115205770584].
A Model for Robotic Hand Based on Fibonacci Sequence
LAI, ANNA CHIARA;LORETI, Paola;VELLUCCI, PIERLUIGI
2014
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.| File | Dimensione | Formato | |
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