A SURVEY OF MULTIFINGERED ROBOT HANDS - ISSUES AND GRASPING ACHIEVEMENTS

被引：15
作者：
ALGALLAF, E
ALLEN, A
WARWICK, K
机构：
[1] Department of Cybernetics, School of Engineering and Information Sciences, University of Reading, Reading
来源：
MECHATRONICS | 1993年 / 3卷 / 04期
关键词：
D O I：
10.1016/0957-4158(93)90018-W
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Recently a substantial amount of research has been done in the field of dextrous manipulation and hand manoeuvres. The main concern has been how to control robot hands so that they can execute manipulation tasks with the same dexterity and intuition as human hands. This paper surveys multi-fingered robot hand research and development topics which include robot hand design, object force distribution and control, grip transform, grasp stability and its synthesis, grasp stiffness and compliance motion and robot arm-hand coordination. Three main topics are presented in this article. The first is an introduction to the subject. The second concentrates on examples of mechanical manipulators used in research and the methods employed to control them. The third presents work which has been done on the field of object manipulation.
引用
收藏
页码：465 / 491
页数：27
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