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
Conference Name12th World Congress on Intelligent Control and Automation (WCICA)
Source PublicationPROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA)
Conference DateJUN 12-15, 2016
Conference PlaceGuilin, PEOPLES R CHINA
AbstractThis 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.
KeywordManipulation
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12831
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Corresponding AuthorQiao, H
Recommended Citation
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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