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Research on humanoid movements of a 7-DOF manipulator for planar grasping

Authors:

Wenfan LiAuthors Info & Claims

RobCE '22: Proceedings of the 2022 2nd International Conference on Robotics and Control Engineering

Pages 67 - 72

https://doi.org/10.1145/3529261.3529273

Published: 25 April 2022 Publication History

Abstract

The Seven degree-of-freedom anthropomorphic manipulator is a research hotspot in the field of robotics. In order to improve the efficiency of human-robot interaction, the manipulator should not only look like human in appearance, but also imitate human action as much as possible. The planar grasping movements were studied for the developed 7-DOF humanoid manipulator. Firstly, the planar grasping action of human arms is captured by experiments. The motion captured device Opti-track is used to obtain human arm motion data, which is then converted into the position, posture and arm angle of the human hand. Secondly, according to the motion data, the grasping law of the human arm is summarized, obtaining the relationship between palm posture and grasping position, which reveals the postural synergies of the human arm. Finally, the grasping experiment on the humanoid manipulator is carried out. The results show that the humanoid manipulator can accurately imitate the grasping behavior of the human arm, verifying the effectiveness of the proposed method.

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Cited By

Zhang XLin YYe YLi W(2022)Motion Control of a Dexterous Manipulator Using Data Glove2022 8th International Conference on Mechanical Engineering and Automation Science (ICMEAS)10.1109/ICMEAS57305.2022.00034(138-142)Online publication date: Oct-2022
https://doi.org/10.1109/ICMEAS57305.2022.00034

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Published In

cover image ACM Other conferences

RobCE '22: Proceedings of the 2022 2nd International Conference on Robotics and Control Engineering

March 2022

107 pages

ISBN:9781450395854

DOI:10.1145/3529261

Conference Chair:
Aiguo Song,
General Chair:
Dan Zhang,
Program Chairs:
Maki Habib,
Xuebo Zhang
Nankai University, China
,
Publications Chair:
Giuseppe Carbone

Copyright © 2022 ACM.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 25 April 2022

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the Science & Technology Planning Project of Guangzhou
the Natural Science Foundation of Guangdong Province

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RobCE 2022

RobCE 2022: 2022 2nd International Conference on Robotics and Control Engineering

March 25 - 27, 2022

Nanjing, China

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Cited By

Zhang XLin YYe YLi W(2022)Motion Control of a Dexterous Manipulator Using Data Glove2022 8th International Conference on Mechanical Engineering and Automation Science (ICMEAS)10.1109/ICMEAS57305.2022.00034(138-142)Online publication date: Oct-2022
https://doi.org/10.1109/ICMEAS57305.2022.00034

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