Shuwei Qiu

2 accepted papers

2021

Arm-Hand Systems As Hybrid Parallel-Serial Systems: A Novel Inverse Kinematics Solution

ICRA 2021poster

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 str…

Cited by 2 Source ↗Scholar ↗

2021

Precision Grasp Using an Arm-Hand System as a Hybrid Parallel-Serial System: A Novel Inverse Kinematics Solution

Shuwei Qiu, Mehrdad R. Kermani

RA-L 2021

In this letter, we present a novel inverse kinematics (IK) solution for a robotic arm-hand system to achieve precision grasp. This problem is kinematically over-constrained and to address the issue and to solve the problem, we propose a new approach with three key insights. First, we propose a human

Cited by 11 Source ↗Scholar ↗