An indirect style linkage under-actuated humanoid robot hand

Wenzeng Zhang; Long Wang; Li Hao; Qiang Chen; Dong Du

doi:10.1109/CAR.2010.5456586

An indirect style linkage under-actuated humanoid robot hand

Wenzeng Zhang, Long Wang, Li Hao, Qiang Chen, Dong Du

Tsinghua University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Based on the analysis of the development of recent robotic hands, proposes the design of a new under-actuated humanoid hand, the object seized drives the first segment slip inside under the forces applied by the other active joints or fingers, thus the first segment presses the active link to rotate and consequently make the second segment rotate through the passive link. This paper also evaluates the characteristics of kinesiology and dynamics. This hand fits to be mounted in a humanoid robot because of its high personification, satisfied self-adaptation, super under-actuation, compactness with easy real-time control, small volume, lightweight, strong grasping function.

Original language	English
Title of host publication	CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics
Pages	421-424
Number of pages	4
DOIs	https://doi.org/10.1109/CAR.2010.5456586
State	Published - 2010
Event	2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics, CAR 2010 - Wuhan, China Duration: 6 Mar 2010 → 7 Mar 2010

Publication series

Name	CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics
Volume	2

Conference

Conference	2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics, CAR 2010
Country/Territory	China
City	Wuhan
Period	6/03/10 → 7/03/10

Keywords

Humanoid robot hand
Linkage mechanism
Robot design
Self-adaptive grasp
Under-actuated grasp

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10.1109/CAR.2010.5456586

Cite this

Zhang, W., Wang, L., Hao, L., Chen, Q., & Du, D. (2010). An indirect style linkage under-actuated humanoid robot hand. In CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (pp. 421-424). Article 5456586 (CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics; Vol. 2). https://doi.org/10.1109/CAR.2010.5456586

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title = "An indirect style linkage under-actuated humanoid robot hand",

abstract = "Based on the analysis of the development of recent robotic hands, proposes the design of a new under-actuated humanoid hand, the object seized drives the first segment slip inside under the forces applied by the other active joints or fingers, thus the first segment presses the active link to rotate and consequently make the second segment rotate through the passive link. This paper also evaluates the characteristics of kinesiology and dynamics. This hand fits to be mounted in a humanoid robot because of its high personification, satisfied self-adaptation, super under-actuation, compactness with easy real-time control, small volume, lightweight, strong grasping function.",

keywords = "Humanoid robot hand, Linkage mechanism, Robot design, Self-adaptive grasp, Under-actuated grasp",

author = "Wenzeng Zhang and Long Wang and Li Hao and Qiang Chen and Dong Du",

year = "2010",

doi = "10.1109/CAR.2010.5456586",

language = "English",

isbn = "9781424451937",

series = "CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics",

pages = "421--424",

booktitle = "CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics",

note = "2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics, CAR 2010 ; Conference date: 06-03-2010 Through 07-03-2010",

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Zhang, W, Wang, L, Hao, L, Chen, Q & Du, D 2010, An indirect style linkage under-actuated humanoid robot hand. in CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics., 5456586, CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics, vol. 2, pp. 421-424, 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics, CAR 2010, Wuhan, China, 6/03/10. https://doi.org/10.1109/CAR.2010.5456586

An indirect style linkage under-actuated humanoid robot hand. / Zhang, Wenzeng; Wang, Long; Hao, Li et al.
CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics. 2010. p. 421-424 5456586 (CAR 2010 - 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics; Vol. 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Based on the analysis of the development of recent robotic hands, proposes the design of a new under-actuated humanoid hand, the object seized drives the first segment slip inside under the forces applied by the other active joints or fingers, thus the first segment presses the active link to rotate and consequently make the second segment rotate through the passive link. This paper also evaluates the characteristics of kinesiology and dynamics. This hand fits to be mounted in a humanoid robot because of its high personification, satisfied self-adaptation, super under-actuation, compactness with easy real-time control, small volume, lightweight, strong grasping function.

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KW - Linkage mechanism

KW - Robot design

KW - Self-adaptive grasp

KW - Under-actuated grasp

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ER -

An indirect style linkage under-actuated humanoid robot hand

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