제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.83.1-83
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- 2001
Design and Control of a Dexterous Multi-fingered Robot Hand
- Chung, Woo-Jin (KIST) ;
- Lee, Hyung-Jin (KIST) ;
- Kim, Mun-Sang (KIST) ;
- Lee, Chong-Won (KIST) ;
- Kang, Bong-Soo (KIST)
- 발행 : 2001.10.01
초록
This paper presents a three-fingered robot hand, called the KIST hand, Which have one active joint and one passive joint. The thumb is fixed on the palm, and the index and the middle take lateral motions symmetrically. A mechanical clutch and an embedded force sensor, attached on the distal link of the fingers, enable the KIST hand to perform human-like functions. A result of experiment shows reliable grasping performance of the hand which maintain stable grasp under disturbances.
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