Development of Sensory-Motor Fusion-Based Manipulation and Grasping Control for a Robotic Hand-Eye System.
文献类型：期刊论文
| 作者 | Hu, Yingbai; Li, Zhijun; Li, Guanglin; Yuan, Peijiang; Yang, Chenguang; Song, Rong |
| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
 |
| 出版日期 | 2017 |
| 文献子类 | 期刊论文 |
| 英文摘要 | In this paper, a sensory-motor fusion-based manipulation and grasping control strategy has been developed for a robotic hand-eye system. The proposed hierarchical control architecture has three modules: 1) vision servoing; 2) surface electromyography (sEMG)-based movement recognition; and 3) hybrid force and motion optimization for manipulation and grasping. A stereo camera is used to obtain the 3-D point cloud of a target object and provides the desired operational position. The AdaBoost-based motion recognition is employed to discriminate different movements based on sEMG of human upper limbs. The operational space motion planning for bionic arm and force planning for multifingered robotic hand can be both transformed as a convex optimization problem with various constraints. A neural dynamics optimization solution is proposed and implemented online. The proposed formulation can achieve a substantial reduction of computational load. The actual implementation includes a bionic arm with dextrous hand, high-speed active vision, and an EMG sensors. A seriesof manipulation tasks consisting of tracking/recogniting/grasping of an object are implemented, and experiment results exhibit the responsiveness and flexibility of the proposed sensory motion fusion approach. |
| URL标识 | 查看原文 |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11938]  |
| 专题 | 深圳先进技术研究院_医工所 |
| 作者单位 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS |
| 推荐引用方式 GB/T 7714 | Hu, Yingbai,Li, Zhijun,Li, Guanglin,et al. Development of Sensory-Motor Fusion-Based Manipulation and Grasping Control for a Robotic Hand-Eye System.[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2017. |
| APA | Hu, Yingbai,Li, Zhijun,Li, Guanglin,Yuan, Peijiang,Yang, Chenguang,&Song, Rong.(2017).Development of Sensory-Motor Fusion-Based Manipulation and Grasping Control for a Robotic Hand-Eye System..IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS. |
| MLA | Hu, Yingbai,et al."Development of Sensory-Motor Fusion-Based Manipulation and Grasping Control for a Robotic Hand-Eye System.".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS (2017). |
入库方式： OAI收割
来源：深圳先进技术研究院
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