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Li Jiting
Zhang Yuru
Su Wenkui
Guo Weidong
Robotics Institute,
Beijing University of Aeronautics
& Astronautics,
Beijing 100083, China |
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GRASP PLANNING
AND IMPLEMENTATION FOR DEXTEROUS HANDS BY HUMAN DEMONSTRATION*
Abstract: Grasp planning is one of key issues for robotic dexterous hands to accomplish the desired tasks. A possible technical solution is master-slave operation. Human hand and robot hand operate as the master and the slave, respectively. The motion mapping from human hand to robot hand is presented and implemented in a virtual environment so that the robot hand can accomplish the grasp tasks by human demonstrations. The simulation results illustrate the validity of the method.
Key words:
Grasp planning Human hand demonstration Motion mapping Robot hand |