Dexterous handling using a multifingered hand with finger rotation mechanism Dexterous handling using a multifingered hand with finger rotation mechanism

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Author(s)

    • Namiki Akio
    • Department of Mechanical Engineering, Chiba University

Abstract

To develop a dexterous robot hand is one of the most important subjects in the robotics research field. The purpose of this paper is to achieve skillful manipulation by a multi-fingered robot hand with fingertip rotation axes. First, the kinematic relationship between the fingertip rotation and the rotation of a grasped object is proposed. Secondly, based on the kinematics, a new rotation control method of a grasped object is proposed. This controlmethod uses the rolling contacts between the fingertips and the object. As the target, a sphere and a cube were used.

Journal

  • The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM

    The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5(0), 439-443, 2010

    The Japan Society of Mechanical Engineers

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