A two-step method for 4-pin form-closure gripper with grasping force optimization

doi:10.1002/asjc.2545

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 two-step method for 4-pin form-closure gripper with grasping force optimization
	Li, Rui1 ; Li, Yinlin2 ; Su, Xiaojie 1
发表期刊	ASIAN JOURNAL OF CONTROL
ISSN	1561-8625
	2021-04-15
页码	8
通讯作者	Su, Xiaojie(suxiaojie@cqu.edu.cn)
摘要	Grasp planning and the grasping force optimization are challenging issues associated with the dexterous robotic hand grasping problem. To ensure a safe, fast, and stable grasp for robots, careful determination of the grasping points and the grasping forces is required. The former creates an open question because of the availability of multiple solutions. The latter is formulated as a problem for minimizing an objective function subject to form-closure constraints and balance constraints of external forces. In this work, we propose a novel approach for the grasping force optimization of the 4-pin environmental constraint-based form-closure grasp using dynamic neural networks. To find a form-closure grasp, we propose an environmental constraint-based algorithm and convert it to a problem of finding the local minima of a constraint region, resulting in an easy determination of the grasping points with the guarantee of grasping safety. To satisfy the grasping force limit of the contact points, we solve the grasping force optimization problem with friction constraint, which maximize the efficiency of the applied force and power of the dexterous hand. The proposed approach is evaluated with 4-pin gripper, and the result demonstrates that we can plan a safe, fast, and stable grasp from any initial state to a form-closure grasping state.
关键词	4‐ pin gripper form closure grasping force control
DOI	10.1002/asjc.2545
收录类别	SCI
语种	英语
资助项目	Key-Area Research and Development Program of Guangdong Province[2020B0909020001] ; National Natural Science Foundation[61702516] ; National Natural Science Foundation[62003059] ; National Natural Science Foundation[51705515] ; China Postdoctoral Science Foundation[2020M673136] ; National Natural Science Foundation of China (NSFC)[U1713201]
项目资助者	Key-Area Research and Development Program of Guangdong Province ; National Natural Science Foundation ; China Postdoctoral Science Foundation ; National Natural Science Foundation of China (NSFC)
WOS研究方向	Automation & Control Systems
WOS类目	Automation & Control Systems
WOS记录号	WOS:000640195900001
出版者	WILEY
引用统计	被引频次：1[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/173211/44243
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	Su, Xiaojie
作者单位	1.Chongqing Univ, Sch Automat, Chongqing 400040, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Rui,Li, Yinlin,Su, Xiaojie. A two-step method for 4-pin form-closure gripper with grasping force optimization[J]. ASIAN JOURNAL OF CONTROL,2021:8.
APA	Li, Rui,Li, Yinlin,&Su, Xiaojie.(2021).A two-step method for 4-pin form-closure gripper with grasping force optimization.ASIAN JOURNAL OF CONTROL,8.
MLA	Li, Rui,et al."A two-step method for 4-pin form-closure gripper with grasping force optimization".ASIAN JOURNAL OF CONTROL (2021):8.