摘要
本文研究主从操作中人手到灵巧手的运动映射 .提出了一种基于虚拟关节和虚拟手指的关节空间运动映射方法 ,实现了人手和灵巧手的三维运动仿真 .以数据手套为人机接口 ,在虚拟环境下 ,通过直观地比较映射效果 。
This paper describes the implementation of grasp planning for robotic dexterous hands. Human grasp strategy is learned through master slave manipulation. The human hand motion is mapped to the robot hands through dataglove. A method of joint space mapping is developed based on virtual joints and virtual fingers. A virtual environment is developed to visualize the motion of the human hand and the robot hands. The mapping result is verified intuitively in the virtual environment.
出处
《机器人》
EI
CSCD
北大核心
2003年第5期444-447,451,共5页
Robot
基金
国家自然科学基金 :基于 6维力传感器的灵巧手控制和操作规划资助项目 (5 9985 0 0 1 )
国家教育部博士点基金 :人手运动识别与灵巧手的抓持规划资助项目 (2 0 0 0 0 0 0 6 0 5 )
