Title :
Dextrous robot hand experiments
Author :
Buss, Martin ; Hashimoto, Hideki
Author_Institution :
Inst. of Ind. Sci., Tokyo Univ., Japan
Abstract :
In this paper we describe the 4-fingered dextrous robotic hand with 24 degrees-of-freedom (DOF) we have developed. At each finger-tip a 6 DOF force/torque sensor is attached to measure contact forces directly. A heterogeneous parallel computing architecture based on transputers is used to implement the proposed grasp controller and the underlying hybrid position/force controllers for each finger. Experimental results of object trajectory following, object stiffness and friction coefficient estimation are shown
Keywords :
force control; force measurement; manipulators; parallel processing; position control; transputer systems; 24-d.o.f. hand; 4-fingered dextrous robotic hand; 6 DOF force/torque sensor; contact force measurement; friction coefficient estimation; grasp controller; heterogeneous parallel computing architecture; hybrid position/force controllers; object stiffness; object trajectory following; transputers; Fingers; Force measurement; Force sensors; Gears; Hardware; Kinematics; Orbital robotics; Robot sensing systems; Tiles; Torque;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525516
