Abstract
Grasping and moving objects is a natural behavior in human daily life, whereas it turns into an enormous challenge with robots. To analyze the difficulty of grasping and moving target objects, a arm-hand system is performed with 7-DOF dual arms robot and bionic hand in this paper. A numerical method is proposed to solve the problem of arm motion planning. And a novel grasping strategy is proposed for enabling bionic hand to grasp efficiently. Finally, the effectiveness of the proposed methodology is demonstrated using both computer simulation and physical experiment.
This work is supported by Science and Technology Commission of Shanghai (15411953500) and Science and Technology Commission of Shanghai Municipality under “Shanghai Sailing Program” (16YF1403700), Shanghai University Youth Teacher Training Assistance Scheme (ZZSD15088).
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Fei, X., Chen, L., Xu, Y., Liu, Y. (2017). Motion Planning and Object Grasping of Baxter Robot with Bionic Hand. In: Fei, M., Ma, S., Li, X., Sun, X., Jia, L., Su, Z. (eds) Advanced Computational Methods in Life System Modeling and Simulation. ICSEE LSMS 2017 2017. Communications in Computer and Information Science, vol 761. Springer, Singapore. https://doi.org/10.1007/978-981-10-6370-1_21
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DOI: https://doi.org/10.1007/978-981-10-6370-1_21
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