Development of tendon-driven robotic hand for biped humanoid robot

Yuki Kamogawa, Atsuo Takanishi, Youhei Kuwahara, Hun Ok Lim

    研究成果: Conference contribution

    1 引用 (Scopus)

    抜粋

    This paper describes a robotic hand that attaches to the wrist of a biped humanoid robot capable of mimicking a human motion. The robotic hand has five tendon-driven fingers that consist of a thumb, and an index, a middle, a ring, and a little finger. The fingers are composed of a V-grooved pulley, an E-type retaining ring, a hinge pin, and a torsional spring. The thumb has two motors for rolling and yawing motions and the other fingers have one motor for rolling motions. The effectiveness of the robot hands is confirmed through many grasping experiments.

    元の言語English
    ホスト出版物のタイトル2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ914-917
    ページ数4
    ISBN(印刷物)9781479959556
    DOI
    出版物ステータスPublished - 2014 2 18
    イベント2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 - Kitakyushu, Japan
    継続期間: 2014 12 32014 12 6

    Other

    Other2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014
    Japan
    Kitakyushu
    期間14/12/314/12/6

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence

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  • これを引用

    Kamogawa, Y., Takanishi, A., Kuwahara, Y., & Lim, H. O. (2014). Development of tendon-driven robotic hand for biped humanoid robot. : 2014 Joint 7th International Conference on Soft Computing and Intelligent Systems, SCIS 2014 and 15th International Symposium on Advanced Intelligent Systems, ISIS 2014 (pp. 914-917). [7044764] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2014.7044764