Arm-Hand Systems As Hybrid Parallel-Serial Systems: A Novel Inverse Kinematics Solution
Shuwei Qiu Mehrdad R. Kermani Shuwei Qiu Mehrdad R. Kermani
In this paper, we aim to solve inverse kinematics of the integrated robotic arm-hand systems to achieve precision grasping, provided the desired grasp configuration (contact points + contact normals). The key insights of our approach are three-fold. First, we propose a human-inspired thumb-first strategy and consider one finger of the robotic hand as the "thumb" to narrow down the search space and...