典型文献
Hybrid Mapping Method:from Human to Robotic Hands with Dissimilar Kinematics
文献摘要：
Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar kinematics.This paper proposes a hybrid mapping method to solve this problem.In the proposed method,fingers in the master and the slave hands are divided into vital and synergic fingers according to their contribution to the grasping task.The tip of the vital finger of the master hand is first mapped to that of the slave hand while ensuring that both are in simultaneous contact with the object to be grasped.Following postural synergy theory,joints of the other synergic fingers of the slave hand are then used to generate an anthropomorphic grasping configuration according to the shape of the object to be grasped.Following this,a human-guided impedance controller is used to reduce the pre-grasping error and realize compliant interaction with the environment.The proposed hybrid mapping method can not only generate the posture of the humanoid envelope but can also carry out impedance-adaptive matching.It was evaluated using simula-tions and an experiment involving an anthropomorphic robotic slave hand.
文献关键词：
中图分类号：
作者姓名：
Bingchen Liu;Li Jiang;Shaowei Fan
作者机构：
State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China
文献出处：
引用格式：
[1]Bingchen Liu;Li Jiang;Shaowei Fan-.Hybrid Mapping Method:from Human to Robotic Hands with Dissimilar Kinematics)[J].仿生工程学报（英文版）,2022(04):935-952
A类：
grasps
B类：
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AB值：
0.548087
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
