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

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

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)95-104
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number1
StatePublished - 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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