Research on humanoid movements of a 7-DOF manipulator for planar grasping

Xuchong Zhang, Peng Yang, Wenfan Li

Abstract: The Seven degree-of-freedom anthropomorphic manipulator is a research hotspot in the field of robotics. In order to improve the efficiency of human-robot interaction, the manipulator should not only look like human in appearance, but also imitate human action as much as possible. The planar grasping movements were studied for the developed 7-DOF humanoid manipulator. Firstly, the planar grasping action of human arms is captured by experiments. The motion captured device Opti-track is used to obtain human arm motion data, which is then converted into the position, posture and arm angle of the human hand. Secondly, according to the motion data, the grasping law of the human arm is summarized, obtaining the relationship between palm posture and grasping position, which reveals the postural synergies of the human arm. Finally, the grasping experiment on the humanoid manipulator is carried out. The results show that the humanoid manipulator can accurately imitate the grasping behavior of the human arm, verifying the effectiveness of the proposed method.