DocumentCode
3244154
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
fYear
2011
fDate
23-26 Nov. 2011
Firstpage
321
Lastpage
325
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location
Incheon
Print_ISBN
978-1-4577-0722-3
Type
conf
DOI
10.1109/URAI.2011.6145984
Filename
6145984
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