Goldfinger: A Non-Anthropomorphic, Dextrous Robot Hand
نویسندگان
چکیده
I n this paper, we describe the hardware and control architecture o,f a novel ,four-,fingered dextrous robot hand. The benefits of the unusual arrangement 0.f the ,fingers (which resembles that an raptors and other birds) an the hand are discussed. Kinematic models f o r 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.
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تاریخ انتشار 1999