Analysis of Multi-Fingered Grasp and Manipulation of Ping-Pong Racket

Abstract:

According to the human playing of ping-pong racket, this paper originally analyzes the multi-fingered grasping and manipulating of ping-pong racket and points out the three aspects have to be studied to make sure the grasp is stable and the manipulation is dexterous. Two of those three aspects are studied respectively: the least needed number and the distribution of degrees of the multi-fingered hand is determined at first; then the kinematic planning for robotic hand grasping ping-pong racket is studied, and a new method is proposed to selected the right solution in the planning. The simulation result in the end proofs that the kinematic planning and the method are right and effective.

• Periodical: Advanced Engineering Forum (Volumes 2-3)
• Pages: 378-383
• DOI: https://doi.org/10.4028/www.scientific.net/AEF.2-3.378
• Online since: December 2011
• Authors: Yu Wang Liu, Yu Quan Leng, Hong Guang Wang, Wei Jia Zhou
• Keywords: Dexterous Hand, Grasp, Manipulation, Ping-Pong Racket

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