Kinematic analysis and position/force control of the anthrobot dextrous Hand

Konstantinos J. Kyriakopoulos; Josh Van Riper; Andrew Zink; Harry E. Stephanou

doi:10.1109/3477.552188

Kinematic analysis and position/force control of the anthrobot dextrous Hand

Konstantinos J. Kyriakopoulos, Josh Van Riper, Andrew Zink, Harry E. Stephanou

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effectors which can cope with the wide variety of tasks and objects encountered in these environments. A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation. A dynamic model of the fingers is identified and used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed.

Original language	English (US)
Pages (from-to)	95-104
Number of pages	10
Journal	IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume	27
Issue number	1
DOIs	https://doi.org/10.1109/3477.552188
State	Published - 1997

ASJC Scopus subject areas

Control and Systems Engineering
Software
Information Systems
Human-Computer Interaction
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/3477.552188

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title = "Kinematic analysis and position/force control of the anthrobot dextrous Hand",

abstract = "The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effectors which can cope with the wide variety of tasks and objects encountered in these environments. A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation. A dynamic model of the fingers is identified and used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed.",

author = "Kyriakopoulos, {Konstantinos J.} and {Van Riper}, Josh and Andrew Zink and Stephanou, {Harry E.}",

note = "Funding Information: Manuscript received February 17, 1993; revised February 2, 1996. This work was conducted at the New York State Center for Advanced Technology (CAT) in Automation and Robotics at Rensselaer Polytechnic Institute, funded by a grant from the New York State Science and Technology Foundation.",

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doi = "10.1109/3477.552188",

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AU - Kyriakopoulos, Konstantinos J.

AU - Van Riper, Josh

AU - Zink, Andrew

AU - Stephanou, Harry E.

N1 - Funding Information: Manuscript received February 17, 1993; revised February 2, 1996. This work was conducted at the New York State Center for Advanced Technology (CAT) in Automation and Robotics at Rensselaer Polytechnic Institute, funded by a grant from the New York State Science and Technology Foundation.

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AB - The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effectors which can cope with the wide variety of tasks and objects encountered in these environments. A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper, the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation. A dynamic model of the fingers is identified and used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed.

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Kinematic analysis and position/force control of the anthrobot dextrous Hand

Abstract

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