Consideration of velocity terms in finger-arm coordination motion planning

S. Sugano*, H. Suzuki, O. Matsumoto, S. Mutoh, I. Kato

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review


This paper introduces a method of planning the coordination of the robot fingers and an arm in consideration of velocity terms when performing work which can be expressed as a sequence of continuous changes in positioning points of robot finger tips. The search procedure for planning is divided into two steps. One is the determination of the determination of task allocation to the fingers and arm. The other is the determination of the introduction point of the finger-arm coordination motions. As a first step evaluation is performed only by moving the distance to decrease the calculation time. As a second step, evaluation function includes the number of processable work points and the rate of finger-arm coordination motions. This method was tested on the piano plying work using multiple degrees of freedom anthropomorphic robot.

Original languageEnglish
Pages (from-to)359-364
Number of pages6
JournalIFAC Proceedings Series
Issue number10
Publication statusPublished - 1989 Dec 1
EventRobot Control 1988 (SYROCO '88) - Selected Papers from the 2nd IFAC Symposium - Karlsruhe, FRG
Duration: 1988 Oct 51988 Oct 7

ASJC Scopus subject areas

  • Engineering(all)


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