Differential Dynamic Programming based Hybrid Manipulation Strategy for Dynamic Grasping
Cheng Zhou,Yanbo Long,Lei Shi,Longfei Zhao,Yu Zheng,Cheng Zhou,Yanbo Long,Lei Shi,Longfei Zhao,Yu Zheng
To fully explore the potential of robots for dexterous manipulation, this paper presents a whole dynamic grasping process to achieve fluent grasping of a target object by the robot end-effector. The process starts from the phase of approaching the object over the phases of colliding with the object and letting it roll about the colliding point to the final phase of catching it by the palm or grasp...
