Hybrid Force-Position Humanoid Hand Control in 3D Virtual Environment

Abstract:

This paper presents the workflow to create a robotic humanoid hand simulation environment using two top software packages and also the implementation of an intelligent hybrid force - position control method using neural networks for force closing operation of a humanoid robotic hand modeled in the 3D virtual environment. The benefits that the 3D modeling provides are described and then the results of the proposed method are presented. This approach allows studying the motion of the robotic system under different circumstances without any greater costs.

• Periodical: Applied Mechanics and Materials (Volume 762)
• Pages: 91-97
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.762.91
• Online since: May 2015
• Authors: Danut A. Bucur, Luige Vladareanu*, Hong Nian Yu, Xian Chao Zhao, Stefan Dumitru
• Keywords: 3D Modeling, Autodesk Inventor, Humanoid Robot Hand, Hybrid Force-Position Control, SimMechanics

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