Title :
A performance evaluation of BH-2 dextrous robotic hand
Author :
Yang, Yang ; Zhang, Yuru ; Zhang, Qi Xian
Author_Institution :
Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
A new anthropomorphic dextrous robotic hand (BH-2) is presented in this paper. In order to demonstrate its capability of performing various tasks on a variety of objects, some quality measures for grasping in wrench space and manipulation in twist space, as well as the asymptotical stability of the grasping system are proposed. Using these measures, a performance evaluation on the BH-2 dextrous robotic hand has been conducted by comparing the hand with the Stanford hand when they respectively grasp a cylindrical object. The analysis results shows that the BH-2 hand has rather better manipulability and asymptotical stability than the Stanford hand
Keywords :
asymptotic stability; manipulators; materials handling; performance evaluation; BH-2 dextrous robotic hand; anthropomorphic dextrous manipulator; asymptotical stability; grasping; manipulability; performance evaluation; twist space; wrench space; Asymptotic stability; Extraterrestrial measurements; Fingers; Grasping; Humans; Orbital robotics; Performance evaluation; Robots; Stability analysis; Thumb;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.537885
