Knowledge Commons of Institute of Automation,CAS
Flexible Robotic Grasping Strategy with Constrained Region in Environment | |
Chao Ma1,2; 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 | |
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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