@inproceedings{14dd3995f1894ab09a107cc1025f1cd8,
title = "Automatic Operating Method of Robot Dexterous Multi-fingered Hand Using Heuristic Rules",
abstract = "Automatic grasp planning of robotic hand is always a difficult problem in robotics. Although researchers have developed underactuated hands with less degrees of freedom, automatic grasp planning is still a difficult problem because of the huge number of possible hand configurations. But humans simplify this problem by applying several usual grasp starting postures on most of grasp tasks. In this paper, a method for grasping planning is presented which can use a set of heuristic rules to limit the possibilities of hand configurations. By modeling the object as a set of primitive shapes and applying appropriate grasp starting postures on it, many grasp samples can be generated. And this is the basic content of the heuristic rules. Then, given grasp samples in finite number, a Simulink and Adams co-simulator is built to simulate these discrete grasp samples. The main purpose of the co-simulator is to simulate the dynamic behavior of robotic hand when grasping and measure the grasp quality using force closure and grasp measurement of largest-minimum resisted wrench. Last, a grasp library with force closure grasps is built where all items of grasp are sorted by the function value of grasp measurement. With the library, it{\textquoteright}s easy to plan a grasp for certain object by just selecting an appropriate grasp from the library.",
keywords = "Planning, Robot grasping, Simulink and Adams co-simulator",
author = "Wei Wang and Qiangbing Zhang and Zeyuan Sun and Xi Chen and Zhihong Jiang",
note = "Publisher Copyright: © 2019, Springer Nature Singapore Pte Ltd.; 4th International Conference on Cognitive Systems and Information Processing, ICCSIP 2018 ; Conference date: 29-11-2018 Through 01-12-2018",
year = "2019",
doi = "10.1007/978-981-13-7983-3_37",
language = "English",
isbn = "9789811379826",
series = "Communications in Computer and Information Science",
publisher = "Springer Verlag",
pages = "420--431",
editor = "Fuchun Sun and Huaping Liu and Dewen Hu",
booktitle = "Cognitive Systems and Signal Processing - 4th International Conference, ICCSIP 2018, Revised Selected Papers",
address = "Germany",
}