Collision free path planning for intrinsic safety of multi-fingered SDH-2

Abstract

This paper presents a collision free path planning algorithm for the multi-fingered SDH2. The goal of this algorithm is the autonomous transfer of all fingers into a desired target position. The algorithm is independent of the initial finger position and may be used irrespective of any collision detection algorithm. It will be presented how forbidden finger movements can be discovered. The need for this feature, advantages and important Real-Time characteristics as well as further possibilities are discussed. © 2010 Springer-Verlag Berlin Heidelberg.