| Campo DC | Valor | Lengua/Idioma |
|---|
| dc.contributor.author | Pertuz Mendez, Sergio Andres | - |
| dc.contributor.author | Llanos Quintero, Carlos Humberto | - |
| dc.contributor.author | Muñoz Arboleda, Daniel Mauricio | - |
| dc.date.accessioned | 2021-08-04T20:47:47Z | - |
| dc.date.available | 2021-08-04T20:47:47Z | - |
| dc.date.issued | 2021-04-13 | - |
| dc.identifier.citation | PERTUZ, Segio A.; LLANOS, Carlos H.; MUÑOZ, Daniel M. Development of a robotic hand using bioinspired optimization for mechanical and control design: UnB-hand. IEEE Access, v. 9, 2021. DOI: 10.1109/ACCESS.2021.3073010. Disponível em: https://ieeexplore.ieee.org/document/9403893. Acesso em: 04 ago. 2021. | pt_BR |
| dc.identifier.uri | https://repositorio.unb.br/handle/10482/41565 | - |
| dc.language.iso | Inglês | pt_BR |
| dc.publisher | IEEE | pt_BR |
| dc.rights | Acesso Aberto | pt_BR |
| dc.title | Development of a robotic hand using bioinspired optimization for mechanical and control design : UnB-hand | pt_BR |
| dc.type | Artigo | pt_BR |
| dc.subject.keyword | Robôs | pt_BR |
| dc.subject.keyword | FPGA | pt_BR |
| dc.subject.keyword | Sensores | pt_BR |
| dc.subject.keyword | Impedância | pt_BR |
| dc.subject.keyword | Mão robótica | pt_BR |
| dc.rights.license | This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ | pt_BR |
| dc.identifier.doi | 10.1109/ACCESS.2021.3073010 | pt_BR |
| dc.description.abstract1 | For the last four decades, the development of robotic hands has been the focus of several
works. However, a small part of those approaches consider the exploitation of parallelism of FPGA-based
(Field Programmable Gate Arrays) systems or discuss how using bioinspired optimization algorithms could
improve the mechanical and controller components. This work considers developing a bioinspired robotic
hand that achieves motion and force control with a logic hardware architecture implemented in FPGA
intended to be replicated and executed with suitable parallelism, fitting a single device. The developed robotic
hand prototype has five fingers and seven DoF (Degrees of Freedom). Using bioinspired optimization, such
as PSO (Particle Swarm Optimization), both the rigid finger mechanism and the impedance controller were
optimized and incorporated the results in several practical grasping experiments. The validation of this work
is done with the Cutkosky grasping taxonomy and some grasping experiments with interference. The tests
proved the proficiency of this works for a wide range of power and some precision grasp. The reader can see
the experiments in the attached videos. | pt_BR |
| dc.identifier.orcid | https://orcid.org/0000-0002-6311-3251 | pt_BR |
| dc.identifier.orcid | https://orcid.org/0000-0002-0115-4461 | pt_BR |
| dc.description.unidade | Faculdade UnB Gama (FGA) | - |
| Aparece en las colecciones: | Artigos publicados em periódicos e afins
|
