CASIA OpenIR  > 学术期刊  > International Journal of Automation and Computing
Flexible Robotic Grasping Strategy with Constrained Region in Environment
Chao Ma1,2; Hong Qiao2; Rui Li2; Xiao-Qing Li1
Source PublicationInternational Journal of Automation and Computing
ISSN1476-8186
2017
Volume14Issue:5Pages:552-563
SubtypeIJAC-HIC-2016-11-292.pdf
AbstractGrasping 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.
KeywordGrasping strategy compliant grasping dexterous robotic hands attractive region in environment constrained region in environment.
DOI10.1007/s11633-017-1096-5
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Cited Times:6[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/42479
Collection学术期刊_International Journal of Automation and Computing
Affiliation1.School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Chao Ma,Hong Qiao,Rui 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 Chao Ma,Hong Qiao,Rui Li,&Xiao-Qing Li.(2017).Flexible Robotic Grasping Strategy with Constrained Region in Environment.International Journal of Automation and Computing,14(5),552-563.
MLA Chao Ma,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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