Abstract
Grasping is a significant yet challenging task for the robots. In this paper, the grasping problem for a class of dexterous robotic hands is investigated based on the novel concept of constrained region in environment, which is inspired by the grasping operations of the human beings. More precisely, constrained region in environment is formed by the environment, which integrates a bio-inspired co-sensing framework. By utilizing the concept of constrained region in environment, the grasping by robots can be effectively accomplished with relatively low-precision sensors. For the grasping of dexterous robotic hands, the attractive region in environment is first established by model primitives in the configuration space to generate offline grasping planning. Then, online dynamic adjustment is implemented by integrating the visual sensory and force sensory information, such that the uncertainty can be further eliminated and certain compliance can be obtained. In the end, an experimental example of BarrettHand is provided to show the effectiveness of our proposed grasping strategy based on constrained region in environment.
Highlights
1.1 BackgroundRobots are promising due to having an important role in future automation technologies for accomplishing various tasks, especially for the advanced industrial manufacturing, domestic services and other robotic areas[1−6]
Motivated by the above discussions, in this paper, we investigate the grasping planning problems for a class of dexterous underactuated robotic hands based on a bio-inspired concept of constrained region in environment
It should be pointed out that our proposed constrained region in environment (CRIE) can be applied to other high-precision robotic manipulations with low-precision sensory information, such as robotic assembly manipulations, etc
Summary
Robots are promising due to having an important role in future automation technologies for accomplishing various tasks, especially for the advanced industrial manufacturing, domestic services and other robotic areas[1−6]. In the complex and uncertain environments, grasping is an essential and key element for performing dexterous robotic operations[7−11]. Such a manipulation can provide an efficient solution to human-robot interactions[12−16]. By observing the manipulation done by human beings, our dexterous and successful grasping can express a very flexible manner. This mainly relies on our cognitive skills and interaction ability with the environment. The grasping planning algorithms affect the grasping ability of robots, especially for the cases with low-precision sensory information. Ma et al / Flexible Robotic Grasping Strategy with Constrained Region in Environment
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