Efficient grasp synthesis and control strategy for robot hand-arm system

摘要

This research is aimed to improve the efficiency of grasping with hand-arm system. It is divided into two parts: The first part proposes a simplified grasping condition for grasp planning and uses the tactile sensors at fingertip to control the interaction impedance for a robot hand to handle uncertainties in real-world applications. The second part extends the previous techniques from the robot hand to a full robot hand-arm system, and a four-stage planning is designed to generate an ideal grasp trajectory. We demonstrate the whole system by illustrating how our humanoid robot - NINO - with NTU-Hand V would open a door. By adopting this research in hand-arm coordination, mobile robots or humanoid robots can perform grasping and manipulating tasks to improve our daily lives.