Goldfinger: a non-anthropomorphic, dextrous robot hand

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.