DocumentCode
339534
Title
Goldfinger: a non-anthropomorphic, dextrous robot hand
Author
Ramos, Ann M. ; Gravagne, Ian A. ; Walker, Ian D.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Volume
2
fYear
1999
fDate
1999
Firstpage
913
Abstract
In this paper, we describe the hardware and control architecture of a novel four-fingered dextrous robot hand. The benefits of the unusual arrangement of the fingers (which resembles that in raptors and other birds) in the hand are discussed. Kinematic models for the fingers and transmission system are presented. A simulation and real-time control environment has been developed for the hand, and is discussed in the paper. Experiments in dextrous and dynamic manipulation using the hand are also detailed
Keywords
dexterous manipulators; manipulator kinematics; motion control; real-time systems; Goldfinger; control architecture; dextrous robot hand; four-fingered dextrous hand; kinematic models; motion control; nonanthropomorphic robot hand; real-time control; transmission system; Birds; Computer architecture; Couplings; Fingers; Grasping; Hardware; Humans; Kinematics; Manipulator dynamics; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.772421
Filename
772421
Link To Document