Modular control technology for antroponiorphic robotic hands

• Published in: Proceedings World Automation Congress, 2004 Vol. 15; pp. 503 - 510
• Main Authors: Giorgi, F., Caffaz, A., Casalino, G., Turetta, A.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2004
• Subjects: Control systems; DC motors; Digital signal processing; Distributed control; Field programmable gate arrays; Hardware; Motion control; Programmable logic arrays; Robots; Tendons

This paper deals with the design of embedded FPGA-based control systems for tendon actuated multifingered human-like robotic hands. A specific example of tendon actuated mechanical design (DIST-Hand) is first considered, as a reference system, without loss of generality; then a general modular appro...