Kinematics of the anthrobot-2 dextrous hand

Abstract

Robotic applications in unstructured environments will require versatile end effectors capable of performing various tasks on a variety of objects. Dextrous robotic hands can provide the necessary capabilities. A new anthropomorphic dextrous robotic hand (Anthrobot-2) is described. Its forward and inverse kinematics as well as its Jacobians are developed as the first step toward its utilization for either teleoperation or autonomous operation.

Publication Title

Proceedings - IEEE International Conference on Robotics and Automation

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