Stability analysis and optimal enveloping grasp planning of a deployable robotic hand

doi:10.1016/j.mechmachtheory.2020.104241

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Stability analysis and optimal enveloping grasp planning of a deployable robotic hand
	Li, Guotao 1; Xu, Peng 3; Qiao, Shangling 2; Li, Bing 2,3
刊名	MECHANISM AND MACHINE THEORY
	2021-04-01
卷号	158 页码:16
关键词	Enveloping grasp Force-closure Optimization Grasp planning
ISSN号	0094-114X
DOI	10.1016/j.mechmachtheory.2020.104241
通讯作者	Li, Bing(libing.sgs@hit.edu.cn)
英文摘要	Enveloping grasp planning of the contact points is a challenging task in the field of robotics due to the complex constraints during grasp manipulation. In this paper, grasp stability analysis and optimal enveloping grasp planning of a deployable robotic hand (DRH) are studied. First, a method for computing the grasp stability evaluation index of the enveloping grasp is proposed based on the geometric analysis. Second, the effects of the friction coefficients and the deployment length of the DRH on the grasp stability of the enveloping grasp are analyzed and summarized. Third, an optimal enveloping grasp planning method is proposed to obtain the desired deployment length of the DRH and to achieve a firm grasp. Finally, the effectiveness and feasibility of the proposed optimal enveloping grasp planning method are validated through experiments. (C) 2021 Elsevier Ltd. All rights reserved.
资助项目	National Natural Science Foundation of China[U1613201] ; National Key Research and Development Program of China ; Shenzhen Research and Development Program of China[JCYJ20200109112818703]
WOS研究方向	Engineering
语种	英语
出版者	PERGAMON-ELSEVIER SCIENCE LTD
WOS记录号	WOS:000615930300006
资助机构	National Natural Science Foundation of China ; National Key Research and Development Program of China ; Shenzhen Research and Development Program of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/43281]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Li, Bing
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China 3.Harbin Inst Technol, Sch Mech Engn & Automat, Shenzhen 518055, Peoples R China
推荐引用方式 GB/T 7714	Li, Guotao,Xu, Peng,Qiao, Shangling,et al. Stability analysis and optimal enveloping grasp planning of a deployable robotic hand[J]. MECHANISM AND MACHINE THEORY,2021,158:16.
APA	Li, Guotao,Xu, Peng,Qiao, Shangling,&Li, Bing.(2021).Stability analysis and optimal enveloping grasp planning of a deployable robotic hand.MECHANISM AND MACHINE THEORY,158,16.
MLA	Li, Guotao,et al."Stability analysis and optimal enveloping grasp planning of a deployable robotic hand".MECHANISM AND MACHINE THEORY 158(2021):16.