期刊名称：TELKOMNIKA (Telecommunication Computing Electronics and Control)
印刷版ISSN：2302-9293
出版年度：2019
卷号：17
期号：1
页码：1-7
DOI：10.12928/telkomnika.v17i1.11006
出版社：Universitas Ahmad Dahlan
摘要：Human hand is the best sample for humanoid robotic hand and a nature grasping is the final
target that most robotic hands are pursuing. Many prior researches had been done in virtual and real for
simulation the human grasping. Unfortunately, there is no perfect solution to duplicate the nature grasping
of human. The main difficulty comes from three points. 1. How to 3D modelling and fabricate the real hand.
2. How actuated the robotic hand as real hand. 3. How to grasp objects in different shapes like human
hand. To deal with these three problems and further to provide a partial solution for duplicate human
grasping, this paper introduces our method to solve these problems from robotic hand design, fabrication,
actuation and grasping plan. Our modelling progress takes only around 12 minutes that include 10 minutes
of 3D scanning of a real human hand and two minutes for changing the scanned model to an articulated
model by running our algorithm. Our grasping plan is based on the sampled trajectory and easy to
implement for grasping different objects. Followed these steps, a seven DOF robotic hand is created and
tested in the experiments.
其他摘要：Human hand is the best sample for humanoid robotic hand and a nature grasping is the final target that most robotic hands are pursuing. Many prior researches had been done in virtual and real for simulation the human grasping. Unfortunately, there is no perfect solution to duplicate the nature grasping of human. The main difficulty comes from three points. 1. How to 3D modelling and fabricate the real hand. 2. How actuated the robotic hand as real hand. 3. How to grasp objects in different shapes like human hand. To deal with these three problems and further to provide a partial solution for duplicate human grasping, this paper introduces our method to solve these problems from robotic hand design, fabrication, actuation and grasping plan. Our modelling progress takes only around 12 minutes that include 10 minutes of 3D scanning of a real human hand and two minutes for changing the scanned model to an articulated model by running our algorithm. Our grasping plan is based on the sampled trajectory and easy to implement for grasping different objects. Followed these steps, a seven DOF robotic hand is created and tested in the experiments.
关键词：3D modelling; cable-driven; grasping plan; kinematics; motion control
