| 虚拟环境中灵巧手主从抓持的实现 |
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| 引用本文： | 刘杰,张玉茹.虚拟环境中灵巧手主从抓持的实现[J].机器人,2004,26(2):107-110,113. |
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| 作者姓名： | 刘杰 张玉茹 |
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| 作者单位： | 北京航空航天大学机器人研究所,北京,100083 |
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| 基金项目： | 国家自然科学基金资助项目(59985001);国家教育部博士点基金资助项目(2000000605). |
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| 摘 要： | 研究了虚拟现实环境中人手和灵巧手的抓持动作.利用数据手套采集人手的运动信息,将人手的运动
映射给灵巧手,通过搭建人手和灵巧手的模型,在虚拟环境下实现了主从抓持操作.探讨了关键技术问题:异构系统
运动映射、碰撞检测、虚拟力建模、稳定抓持的判据.
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| 关 键 词： | 虚拟环境 灵巧手 抓持 |
| 文章编号： | 1002-0446(2004)02-0107-04 |
Master/Slave Grasping of Dexterous Robotic Hands in Virtual Reality |
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| LIU Jie,ZHANG Yu-ru.Master/Slave Grasping of Dexterous Robotic Hands in Virtual Reality[J].Robot,2004,26(2):107-110,113. |
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| Authors: | LIU Jie ZHANG Yu-ru |
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| Abstract: | This paper describes the grasping of human hand and dexterous hand in virtual environment. We capure the motion information of human hand using Dataglove,map human hand motion to dexterous hand. The master/slave grasping is realized in virtual environment by forming the 3D model of human hand and dexterous hand,and several key technologies in establishing a virtual grasp system,such as motion mapping,collision detection,virtual force mode,criterion of robust grasp,are discussed. |
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| Keywords: | virtual environment dexterous hand grasping |
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