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.


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    Title :

    Motion Planning and Object Grasping of Baxter Robot with Bionic Hand


    Contributors:
    Fei, Xinyi (author) / Chen, Ling (author) / Xu, Yulin (author) / Liu, Yanbo (author)


    Publication date :

    2017-01-01


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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