基于经验学习的空间机器人精细抓捕方法

doi:10.3969/j.issn.1674-1579.2015.05.001

Abstract

Abstract: It is a challenging problem for space robots autonomously to accomplish precise manipulation on objects with complex geometry. In this paper, an effective method for object classification and graspable components identification is firstly proposed by imitating the generation of human experience. Then, a “single” finger grasp planning method is developed which is able to generalize the grasp to the objects in the same category. Experiments verify the effectiveness of the proposed methods.

Key words: precise manipulation； space robot； human experience； grasp planning, object classification

CLC Number:

V448

SUN Fu-Chun, LIU Chun-Fang. Space Robot Precise Manipulation Based on Experience Learning[J]., 2015, 41(5): 1-5.

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URL: http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/10.3969/j.issn.1674-1579.2015.05.001

http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/Y2015/V41/I5/1

References

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Space Robot Precise Manipulation Based on Experience Learning

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