Flexible Robotic Grasping Strategy with Constrained Region in Environment

doi:10.1007/s11633-017-1096-5

CASIA OpenIR > 学术期刊 > Machine Intelligence Research

	Flexible Robotic Grasping Strategy with Constrained Region in Environment
	Chao Ma 1,2; Hong Qiao2 ; Rui Li2 ; Xiao-Qing Li1
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2017
卷号	14 期号:5 页码:552-563
文章类型	IJAC-HIC-2016-11-292.pdf
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.
DOI	10.1007/s11633-017-1096-5
引用统计	被引频次：8[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42479
专题	学术期刊_Machine Intelligence Research
作者单位	1.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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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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