Formalization of the inverse kinematics of three-fingered dexterous hand

• Published in: Journal of logical and algebraic methods in programming Vol. 133; p. 100861
• Main Authors: Wang, Guohui, Chen, Shanyan, Guan, Yong, Shi, Zhiping, Li, Ximeng, Zhang, Jingzhi
• Format: Journal Article
• Language: English
• Published: Elsevier Inc 01.06.2023
• Subjects: Cyber-physical system; Dexterous hand; Formal verification; Theorem proving; Cyber-physical system; Theorem proving; Dexterous hand; Formal verification

As an effective extension of human limbs, dexterous robotic hands based on cyber-physical systems (CPS) are used to perform diverse tasks in industrial production, medical operation, outer-space exploration, etc. The reliable functioning of dexterous robotic hands depends on the proper modeling and...