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首页> 外文会议>International Siberian Conference on Control and Communications >Complexity Reduction for two Human-like Ambidextrous Robotic Hands Control
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Complexity Reduction for two Human-like Ambidextrous Robotic Hands Control

机译：两个类似人的双足机器人手控制的复杂度降低

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摘要

In this paper, task-oriented grasp analysis was made concentrating on the reduction of complexity to achieve adaptable and stable grasps. The hand orientation normal was used for the alignment between the hand and the object. A Varying Pulse Width Form was used to represent the object, where the values of 3D model orientation angles were converted into pulse width values (VPWF) of the objects, and an object matching loop (OML) was used to choose the most suitable hand shape, using defined splines of the overall 3D model of the object, and a curvature adaptation algorithm. The experiments showed that we can analyze the gestures of grasping regardless of grasping power, and showed that there is a strong relation among finger joints. The experiments also showed that coordinating between the two hands based on the Normal Inclination method offers a more generic, speedy, and precise solution for a wide range of robotic applications. One of the important results was in deriving a relation of the precision of the grasp due to the object angle of orientation and brightness. The final aim of this research is to integrate the control of both arms and hands as one entity, avoid collision, coordinate between them, and use them in any application where labor involves a specific series of tasks: for rescuing, manufacturing, making surgeries, and for artificial limbs.
机译：在本文中，针对任务的抓地力分析着重于降低复杂度，以实现适应性和稳定的抓地力。手取向法线用于手和物体之间的对齐。使用可变脉冲宽度形式表示对象，其中将3D模型定向角的值转换为对象的脉冲宽度值（VPWF），并使用对象匹配环（OML）选择最合适的手形，使用对象的整体3D模型的已定义样条线和曲率自适应算法。实验表明，无论抓握力如何，我们都可以分析抓握手势，并且表明手指关节之间存在很强的关系。实验还表明，基于“正常倾斜”方法的两只手之间的协调为广泛的机器人应用提供了一种更通用，更快速，更精确的解决方案。重要的结果之一是由于物体的方位角和亮度，得出了抓握精度的关系。这项研究的最终目的是将手臂和手的控制整合为一个实体，避免碰撞，相互协调，并在劳力涉及一系列特定任务的任何应用中使用它们：救援，制造，手术，和假肢。

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