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02-01-2020 | Original Research Paper | Issue 2/2020

Intelligent Service Robotics 2/2020

Stable grasp planning based on minimum force for dexterous hands

Journal:
Intelligent Service Robotics > Issue 2/2020
Authors:
Yongyao Li, Ming Cong, Dong Liu, Yu Du, Xiubo Xu
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Abstract

The paper investigates a grasp planning method for dexterous hands grasping different objects. It aims at planning the robotic hands’ grasping position and applied force of each finger, respectively, in order to realize a stable grasp by using minimum force. We optimize grasp stability by the principle of the maximum internal tangent sphere and conduct a stable grasp planning based on minimum force which is considered to avoid breaking either the dexterous hand or the object. Calculation examples are provided in order to verify that our process is correct. Furthermore, grasp planning experiments are also carried out and analyzed in accordance with the UR-Barrett Hand system. It is found that the dexterous hand is able to grasp different shapes of objects with a high success rate. In addition, the applied force is the minimum force to grasp objects stably. It is likely to be widely used in many fields, such as service, medical treatment and automatic sorting, which have strict requirements on force to avoid breaking objects.

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