A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 机器人理论与应用

	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	多模态人工智能系统全国重点实验室_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.