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Kinematic analysis and position/force control of the Anthrobot dextrous hand

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4 Author(s)
Kyriakopoulos, K.J. ; Dept. of Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA ; Van Riper, J. ; Zink, A. ; Stephanou, H.E.

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments. A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation. A dynamic model of the fingers is identified and used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed

Published in:

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:27 ,  Issue: 1 )

Date of Publication:

Feb 1997

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