Analyzing, Modeling and Simulation of Humanoid Robot Hand Motion

被引：13

作者：

Virgala, Ivan ^{[1
]}

Kelemen, Michal ^{[1
]}

Varga, Martin ^{[2
]}

Kurylo, Piotr ^{[3
]}

机构：

[1] Tech Univ Kosice, Fac Mech Engn, Dept Mechatron, Letna 9, Kosice 04200, Slovakia

[2] ZTS VVU KOSICE, Kosice 04124, Slovakia

[3] Univ Zielona Gora, PL-65247 Zielona Gora, Poland

来源：

MODELLING OF MECHANICAL AND MECHATRONIC SYSTEMS | 2014年 / 96卷

关键词：

humanoid hand; mathematical model; matlab; simulation;

D O I：

10.1016/j.proeng.2014.12.121

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The paper deals with analyzing, modeling and simulation of motion of humanoid robot hand. At first, the human hand is introduced from the view of biology with focus on bones and joints. Particulars places of motion are replaced by corresponding mechanical joints. Subsequently the kinematic configuration of humanoid hand consisting of 24 degrees of freedom is designed. New method for inverse kinematic model is introduced using Matlab functions. Next, dynamic model of humanoid hand is introduced using model-based design by means of Matlab / SimMechanics. The result of the work is model in Matlab, which can control of particular fingers motion. (C) 2014 The Authors. Published by Elsevier Ltd.

引用

页码：489 / 499

页数：11

共 50 条

[11] Generation of Various Hand-Waving Motion of a Humanoid Robot in a Greeting Situation
Soo, Ju-Hwan
Yang, Jeong-Mean
Dong-Soo, Kwon
2014 11TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2014, : 374 - 378
[12] MODELING AND SIMULATION OF ROBOT MOTION BY CAST
JACAK, W
LECTURE NOTES IN COMPUTER SCIENCE, 1990, 410 : 371 - 380
[13] Kinematic modeling and Simulation of humanoid dual-arm robot
Wang, Jiwu
Xu, Junxiang
PROCEEDINGS OF THE 2021 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2021), 2021, : P77 - P77
[14] Posture Prediction of Humanoid Robot: Modeling and Simulation of Manual Lifting
Abedi, Parvin
Shoushtari, Ali Leylavi
Bistooni, Meysam
PROCEEDING OF THE IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2012, : 536 - 541
[15] Kinematic modeling and Simulation of humanoid dual-arm robot
Wang, Jiwu
Xu, Junxiang
PROCEEDINGS OF THE 2021 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2021), 2021, : 381 - 384
[16] Humanoid robot 3-D motion simulation for hardware realization
Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China
不详
J. Donghua Univ., 2007, 6 (713-717+722):
[17] Humanoid Robot 3-D Motion Simulation for Hardware Realization
曹曦
赵群飞
马培荪
JournalofDonghuaUniversity(EnglishEdition), 2007, (06) : 713 - 717
[18] Adaptive Synergies for a Humanoid Robot Hand
Catalano, M. G.
Grioli, G.
Serio, A.
Farnioli, E.
Piazza, C.
Bicchi, A.
2012 12TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2012, : 7 - 14
[19] Action oriented self-modeling and motion planning for a humanoid robot
Harada, Atsushi
Suzuki, Kenji
2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008), 2008, : 374 - 379
[20] Hand tracking with a humanoid robot head
Ambrosch Roland
Malisa, Viktorio
ANNALS OF DAAAM FOR 2007 & PROCEEDINGS OF THE 18TH INTERNATIONAL DAAAM SYMPOSIUM: INTELLIGENT MANUFACTURING & AUTOMATION: FOCUS ON CREATIVITY, RESPONSIBILITY, AND ETHICS OF ENGINEERS, 2007, : 11 - 12

← 1 2 3 4 5 →