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A model for robotic hand based on fibonacci sequence

ICINCO 2014 - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, Vol: 2, Page: 577-584
2014
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Conference Paper Description

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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