The first part of this paper describes the development of a humanoid robot hand based on an endoskeleton made of rigid links connected with elastic hinges, actuated by sheath routed tendons and covered by continuous compliant pulps. The project is called UB Hand 3 (University of Bologna Hand, 3rd version) and aims to reduce the mechanical complexity of robotic end effectors yet maintaining full anthropomorphic aspect and a good level of dexterity. In the second part this paper focuses on the early experiences of the UB Hand 3 in performing manipulation tasks. ©2005 IEEE.
Development of UB Hand 3: Early results / Lotti, F.; Tiezzi, P.; Vassura, G.; Biagiotti, L.; Palli, G.; Melchiorri, C.. - 2005:(2005), pp. 4488-4493. (Intervento presentato al convegno 2005 IEEE International Conference on Robotics and Automation tenutosi a Barcelona, esp nel 2005) [10.1109/ROBOT.2005.1570811].
Development of UB Hand 3: Early results
Biagiotti L.;Palli G.;Melchiorri C.
2005
Abstract
The first part of this paper describes the development of a humanoid robot hand based on an endoskeleton made of rigid links connected with elastic hinges, actuated by sheath routed tendons and covered by continuous compliant pulps. The project is called UB Hand 3 (University of Bologna Hand, 3rd version) and aims to reduce the mechanical complexity of robotic end effectors yet maintaining full anthropomorphic aspect and a good level of dexterity. In the second part this paper focuses on the early experiences of the UB Hand 3 in performing manipulation tasks. ©2005 IEEE.
| File | Dimensione | Formato | |
|---|---|---|---|
|
IEEE_Development of UB Hand 3 Early results.pdf
Accesso riservato
Tipologia:
Versione pubblicata dall'editore
Dimensione
996.53 kB
Formato
Adobe PDF
|
996.53 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris
