Computation of grasping and manipulation for multi-fingered robotic hands

被引：0

作者：

Li, Zhe ^{[1
]}

Li, Gongfa ^{[1
]}

Jiang, Guozhang ^{[1
]}

Fang, Yinfeng ^{[2
]}

Ju, Zhaojie ^{[2
]}

Liu, Honghai ^{[2
]}

机构：

[1] College of Machinery and Automation, Wuhan University of Science and Technology, Wuhan

[2] Intelligent Systems and Biomedical Robotics Group, School of Computing, University of Ports-Mouth, Portsmouth

来源：

Journal of Computational and Theoretical Nanoscience | 2015年 / 12卷 / 12期

基金：

中国国家自然科学基金; 英国工程与自然科学研究理事会;

关键词：

Force-closure; Form-closure; Grasping; Multi-fingered hand; Planning; Stability;

D O I：

10.1166/jctn.2015.4655

中图分类号：

学科分类号：

摘要：

We present the grasping and manipulation of multi-fingered hands. The grasping models in common use are introduced with a prototype of multi-fingered hand. The developing trends of the multifingered hand are prospected. Several representative methods on grasp mechanism are reviewed. On the basis of investigating the structure and architecture of human hands anatomically, the forceclosure, form-closure and some indexes for evaluating grasping quality are analyzed qualitatively while the manipulability and stability are studied quantitatively. Several typical methods for grasping planning and contact force solutions are induced. The future research is presented and discussed in this area. ©2015 American Scientific PublishersAll rights reserved.

引用

页码：6192 / 6197

页数：5

共 41 条

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