Design, realization and sensorization of the dexterous iCub hand

Alexander Schmitz, Ugo Pattacini, Francesco Nori, Lorenzo Natale, Giorgio Metta, Giulio Sandini

研究成果: Conference contribution

44 被引用数 (Scopus)

抄録

In this paper we describe the hand of the humanoid iCub, an open source robotic platform funded by the European Commission. The principal design rationale was the necessity to supply the robot with sufficiently dexterous and sensorized hands in order to study complex skills such as manipulation. The final design has 9 actuators for each hand, 12 tactile sensors at each fingertip, 48 pressure sensors in the palm and 17 position sensors. The electronics for the sensors are embedded in the hand. As a preliminary application we tested the hand in a simplified grasping scenario in order to quantitatively evaluate the reliability and repeatability of the overall system.

本文言語English
ホスト出版物のタイトル2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
ページ186-191
ページ数6
DOI
出版ステータスPublished - 2010 12 1
外部発表はい
イベント2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010 - Nashville, TN, United States
継続期間: 2010 12 62010 12 8

出版物シリーズ

名前2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

Conference

Conference2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
国/地域United States
CityNashville, TN
Period10/12/610/12/8

ASJC Scopus subject areas

  • 人工知能
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用

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