Kinematic analysis and position/force control of the Anthrobot dextrous hand

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments. A new anthropomorphic robot hand (Anthrobot) which was designed for these environ...

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Published inIEEE transactions on systems, man and cybernetics. Part B, Cybernetics Vol. 27; no. 1; pp. 95 - 104
Main Authors Kyriakopoulos, K.J., Van Riper, J., Zink, A., Stephanou, H.E.
Format Journal Article
LanguageEnglish
Published United States IEEE 01.02.1997
Subjects
Anthropomorphism
Fingers
Force control
Humans
Kinematics
Power system modeling
Robotics and automation
Robots
Thumb
Vehicle dynamics
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Summary:The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments. A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation. A dynamic model of the fingers is identified and used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed.
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ISSN:1083-4419
1941-0492
DOI:10.1109/3477.552188