Prehension of an Anthropomorphic Metamorphic Robotic Hand Based on Opposition Space Model

被引：1
|
作者：
Wei, Guowu [1 ]
Ren, Lei [2 ]
Dai, Jian S. [3 ]
机构：
[1] Univ Salford, Salford M5 4WT, Lancs, England
[2] Univ Manchester, Manchester M13 9PL, Lancs, England
[3] Kings Coll London, London WC2R 2LS, England
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2017, PT I | 2017年 / 10462卷
关键词：
Metamorphic robotic hand; Anthropomophic hand; Prehension; Kinematics; Grasp constraint;
D O I：
10.1007/978-3-319-65289-4_7
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents constrained prehension of an anthropomorphic metamorphic robotic hand based on opposition based model. Structure of the metamorphic hand is briefly introduced and grasp evaluation based on the opposition-space model is presented. Kinematics of the robotic hand is then established leading to the formulation of grasp constraint laying background for investigation of dexterity and manipulability of the metamorphic robotic hand.
引用
收藏
页码：71 / 83
页数：13
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