Flexible robotic grasping strategy with constrained region in environment
Qiao H(乔红); H. Qiao; R. Li; X.-Q. Li
2017
发表期刊International Journal of Automation and Computing
卷号14期号:5页码:552-563
摘要Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations of the human beings. More precisely, constrained region in environment is formed by the environment, which integrates a bio-inspired co-sensing framework. By utilizing the concept of constrained region in environment, the grasping by robots can be effectively accomplished with relatively low-precision sensors. For the grasping of dexterous robotic hands, the attractive region in environment is first established by model primitives in the configuration space to generate offline grasping planning. Then, online dynamic adjustment is implemented by integrating the visual sensory and force sensory information, such that the uncertainty can be further eliminated and certain compliance can be obtained. In the end, an experimental example of BarrettHand is provided to show the effectiveness of our proposed grasping strategy based on constrained region in environment.
关键词Grasping Strategy Compliant Grasping Dexterous Robotic Hands Attractive Region In Environment ConstraIned Region In Environment.
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/19907
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
推荐引用方式
GB/T 7714
Qiao H,H. Qiao,R. Li,et al. Flexible robotic grasping strategy with constrained region in environment[J]. International Journal of Automation and Computing,2017,14(5):552-563.
APA Qiao H,H. Qiao,R. Li,&X.-Q. Li.(2017).Flexible robotic grasping strategy with constrained region in environment.International Journal of Automation and Computing,14(5),552-563.
MLA Qiao H,et al."Flexible robotic grasping strategy with constrained region in environment".International Journal of Automation and Computing 14.5(2017):552-563.
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