Paper Info
Title
Development of a low cost anthropomorphic robot hand with high capability
Abstract
This paper presents a development of an anthropomorphic robot hand, `KITECH Hand' that has 4 full-actuated fingers. Most robot hands have small size simultaneously many joints as compared with robot manipulators. Components of actuator, gear, and sensors used for building robots are not small and are expensive, and those make it difficult to build a small sized robot hand. Differently from conventional development of robot hands, KITECH hand adopts a RC servo module that is cheap, easily obtainable, and easy to handle. The RC servo module that have been already used for several small sized humanoid can be new solution of building small sized robot hand with many joints. The feasibility of KITECH hand in object manipulation is shown through various experimental results. It is verified that the modified RC servo module is one of effective solutions in the development of a robot hand.
Year
DOI
Venue
2012
10.1109/IROS.2012.6386063
IROS
Keywords
Field
DocType
robot manipulators,actuator,servomechanisms,small sized robot hand,small sized humanoid,full-actuated fingers,high capability,low cost anthropomorphic robot hand,actuators,manipulators,object manipulation,kitech hand,rc servo module,force
Robot control,Robot calibration,Servo,Simulation,Computer science,Robot kinematics,Control engineering,Robot end effector,Robot,Mobile robot,Articulated robot
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4673-1737-5
2
PageRank 
References 
Authors
0.36
0
6
Name
Order
Citations
PageRank
Ji-hun Bae113419.83
Sungwoo Park223322.06
Jae-Han Park3318.60
Moonhong Baeg4407.51
Doik Kim517623.73
Sang-Rok Oh637360.95