NDLI: Kinematic modelling of anthropomorphic robot upper limb with human-like hands

Content Provider	IEEE Xplore Digital Library
Author	Tondu, B.
Copyright Year	2009
Description	Author affiliation: LATTIS, University of Toulouse, Campus de Rangueil, 31077, France (Tondu, B.)
Abstract	The actual development of humanoid robots has recently led robot designers to take interest in human-like artificial hands to be used by anhtropomorphic manipulators instead of the classic, but so weakly anthropomorphic, industrial robot gripper. Controlling a robot upper limb with an artificial hand is, according to us, a new challenge for robotics. We analyze how to derive a Denavit-Hartenberg table associating a serial kinematic model of the arm with a branched-chain model of the hand adapted to both the coordination of digits alone and to combined movements between arm and digit. We test an original 11R model combining a 7R arm model with a 4R index model for which we propose a differential computation based on M.Renaud's preferential Jacobian notion. Preliminary simulation results highlight new issues for the task space control of manipulators with jointed digits.
Starting Page	1
Ending Page	9
File Size	464769
Page Count	9
File Format	PDF
ISBN	9781424448555
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-22
Publisher Place	Germany
Access Restriction	Subscribed
Rights Holder	GPS Gesellschaft
Subject Keyword	Anthropomorphism Humanoid robots Service robots Robot kinematics Manipulators Grippers Robot control Testing Jacobian matrices Computational modeling Branched kinematic chains Human upper limb modelling Artificial hand kinematics
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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