A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism

Xiaoqing Li; Hong Qiao; Chao Ma; Rui Li; Konggeng Zeng

doi:10.1109/WCICA.2016.7578820

A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism

Xiaoqing Li
, Hong Qiao
, Chao Ma
, Rui Li
, Konggeng Zeng

University of Science and Technology Beijing
CAS - Institute of Automation
CAS Center for Excellence in Brain Science and Intelligence Technology
YASAKAWA Shougang Robot Co., Ltd.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper investigates the dynamical compliant grasping problem for a class of dexterous robotic hands. In particular, a novel bio-inspired cushioning mechanism is introduced, which can guarantee the compliant achievement of grasping the moving objects. With visual information of the moving objects, the grasping strategy can be implemented for dexterous robotic hands with two specific space regions at different stages. Compared with traditional grasping methods, significant advantages can be obtained such as grasping feasibility, stability and flexibility. Finally, the experimental example is provided to demonstrate the effectiveness and advantages of our obtained theoretical results.

Original language	English
Title of host publication	Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2204-2208
Number of pages	5
ISBN (Electronic)	9781467384148
DOIs	https://doi.org/10.1109/WCICA.2016.7578820
State	Published - 27 Sep 2016
Externally published	Yes
Event	12th World Congress on Intelligent Control and Automation, WCICA 2016 - Guilin, China Duration: 12 Jun 2016 → 15 Jun 2016

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume	2016-September

Conference

Conference	12th World Congress on Intelligent Control and Automation, WCICA 2016
Country/Territory	China
City	Guilin
Period	12/06/16 → 15/06/16

Access to Document

10.1109/WCICA.2016.7578820

Cite this

Li, X., Qiao, H., Ma, C., Li, R., & Zeng, K. (2016). A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism. In Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016 (pp. 2204-2208). Article 7578820 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2016-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2016.7578820

Li, Xiaoqing ; Qiao, Hong ; Ma, Chao et al. / A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism. Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 2204-2208 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)).

@inproceedings{26060f9461334f5b8f77b91a5681b998,

title = "A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism",

abstract = "This paper investigates the dynamical compliant grasping problem for a class of dexterous robotic hands. In particular, a novel bio-inspired cushioning mechanism is introduced, which can guarantee the compliant achievement of grasping the moving objects. With visual information of the moving objects, the grasping strategy can be implemented for dexterous robotic hands with two specific space regions at different stages. Compared with traditional grasping methods, significant advantages can be obtained such as grasping feasibility, stability and flexibility. Finally, the experimental example is provided to demonstrate the effectiveness and advantages of our obtained theoretical results.",

author = "Xiaoqing Li and Hong Qiao and Chao Ma and Rui Li and Konggeng Zeng",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 12th World Congress on Intelligent Control and Automation, WCICA 2016 ; Conference date: 12-06-2016 Through 15-06-2016",

year = "2016",

month = sep,

day = "27",

doi = "10.1109/WCICA.2016.7578820",

language = "英语",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "2204--2208",

booktitle = "Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016",

}

Li, X, Qiao, H, Ma, C, Li, R & Zeng, K 2016, A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism. in Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016., 7578820, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), vol. 2016-September, Institute of Electrical and Electronics Engineers Inc., pp. 2204-2208, 12th World Congress on Intelligent Control and Automation, WCICA 2016, Guilin, China, 12/06/16. https://doi.org/10.1109/WCICA.2016.7578820

A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism. / Li, Xiaoqing; Qiao, Hong; Ma, Chao et al.
Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2204-2208 7578820 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2016-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Li, Rui

AU - Zeng, Konggeng

PY - 2016/9/27

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N2 - This paper investigates the dynamical compliant grasping problem for a class of dexterous robotic hands. In particular, a novel bio-inspired cushioning mechanism is introduced, which can guarantee the compliant achievement of grasping the moving objects. With visual information of the moving objects, the grasping strategy can be implemented for dexterous robotic hands with two specific space regions at different stages. Compared with traditional grasping methods, significant advantages can be obtained such as grasping feasibility, stability and flexibility. Finally, the experimental example is provided to demonstrate the effectiveness and advantages of our obtained theoretical results.

AB - This paper investigates the dynamical compliant grasping problem for a class of dexterous robotic hands. In particular, a novel bio-inspired cushioning mechanism is introduced, which can guarantee the compliant achievement of grasping the moving objects. With visual information of the moving objects, the grasping strategy can be implemented for dexterous robotic hands with two specific space regions at different stages. Compared with traditional grasping methods, significant advantages can be obtained such as grasping feasibility, stability and flexibility. Finally, the experimental example is provided to demonstrate the effectiveness and advantages of our obtained theoretical results.

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DO - 10.1109/WCICA.2016.7578820

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PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 12 June 2016 through 15 June 2016

ER -

Li X, Qiao H, Ma C, Li R, Zeng K. A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism. In Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2204-2208. 7578820. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). doi: 10.1109/WCICA.2016.7578820

A dynamical compliant grasping strategy for dexterous robotic hands with cushioning mechanism

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