와이어 기반의 적응형 로봇 핸드
Tendon-driven Adaptive Robot Hand
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초록
An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructuredenvironments. In this study, we propose an AR-Hand based on a tendon-driven mechanism whichconsists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand basedon the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithmor sensor system. The fingers are driven by simple tendon structures with each finger capable ofadaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptivegrasping is verified by various grasping experiments involving objects with different shapes and sizes.
Abstract
An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructuredenvironments. In this study, we propose an AR-Hand based on a tendon-driven mechanism whichconsists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand basedon the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithmor sensor system. The fingers are driven by simple tendon structures with each finger capable ofadaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptivegrasping is verified by various grasping experiments involving objects with different shapes and sizes.
참고문헌 (14)
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