Title :
Posture and workspace analysis of KU hybrid robotic hand
Author :
Jeong, Hyunhwan ; Cheong, Joono
Author_Institution :
Dept. of Control & Instrum. Eng., Korea Univ. at Sejong, Jochiwon, South Korea
Abstract :
In this paper, we present kinematic and posture analysis of KU hybrid hand, which allows two different operation modes. We analyze kinematic structure and workspace of the KU hybrid hand. We test the ability of KU hybrid hand in making various grasp configurations using standard grasp taxonomy. We also present in-hand motion planning with rolling contact.
Keywords :
dexterous manipulators; grippers; manipulator kinematics; path planning; KU hybrid robotic hand; grasp configurations; grasp taxonomy; in-hand motion planning; robot posture analysis; robot workspace analysis; rolling contact; Grasping; Hardware; Humans; Joints; Kinematics; Robots; Thumb; Hand Design; Robotic Hand; Workspace Analysis;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145984
