A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism
Li, Xiaoqing; Qiao, Hong; Ma, Chao; Li, Rui; Zeng, Konggeng; Qiao, H
2016
会议名称12th World Congress on Intelligent Control and Automation (WCICA)
会议录名称PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA)
会议日期JUN 12-15, 2016
会议地点Guilin, PEOPLES R CHINA
摘要This paper investigates the dynamical compliant grasping problem for a class of dexterous robotichands. In particular, a novel bio-inspired cushioning mechanism is introduced, which can guarantee thecompliant achievement of grasping the moving objects. With visual information of the moving objects, the grasping strategy can be implemented for dexterous robotic hands with two specific space regions at different stages. Compared with traditional grasping methods, significant advantages can be obtained such as grasping feasibility, stability and flexibility. Finally, the experimental example is provided to demonstrate the effectiveness and advantages of our obtained theoretical results.
关键词Manipulation
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12831
专题复杂系统管理与控制国家重点实验室_机器人理论与应用
通讯作者Qiao, H
推荐引用方式
GB/T 7714
Li, Xiaoqing,Qiao, Hong,Ma, Chao,et al. A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism[C],2016.
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