Grasping Control in Three-Fingered Robot Hand Teleoperation Using Desktop Haptic Device

被引：2
|
作者：
Liu, Lingzhi [1 ]
Liu, Guanyang [1 ]
Zhang, Yuru [1 ]
机构：
[1] Beihang Univ, State Key Lab Virtual Real Technol & Syst, Beijing 100191, Peoples R China
来源：
HAPTICS: NEUROSCIENCE, DEVICES, MODELING, AND APPLICATIONS, PT II | 2014年 / 8619卷
关键词：
FEEDBACK; FORCE;
D O I：
10.1007/978-3-662-44196-1_29
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a three-fingered robot hand teleoperation system using desktop haptic device as the master manipulator. The grasp mapping and force feedback methods are developed for the system. Grasp forces of the robot hand are transformed to proper feedback force in master side. Operator controls the robot hand to grasp and hold different objects depending on the force feedback rather than visual feedback. We demonstrated that a wide range of objects, whose properties are well known by operator, were safely and stably grasped and the force based grasping control was more reliable than visual feedback based control. The intuitive and easy-to-realize system raises a new control scheme in robot hand teleoperation.
引用
收藏
页码：232 / 240
页数：9
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