Abstract
Arm-hand subsystem, as the manipulator and end-effecter of a humanoid robot, is important from application point of view since humanoid robot is expected to help people in the future. A powerful arm-hand system can perform as many tasks as human beings do. However, owe to limited space and weight, humanoid robots were usually equipped with simple-structured upper limbs, especially for hand. In this paper, a multi-DOF and dexterous arm-hand module is presented, which owns lightweight and compact structure with incremental encoder, absolute encoder in each joint as well as force/torque sensor to feedback the force information. Moreover, the arm-hand module adopts distributed control system for joint actuators, which is compact and easy to be installed inside.
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© 2008 Springer-Verlag Berlin Heidelberg
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Wang, L., Xie, M., Zhong, Z.W., Yang, H.J., Li, J. (2008). Design of Dexterous Arm-Hand for Human-Assisted Manipulation. In: Xiong, C., Liu, H., Huang, Y., Xiong, Y. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88518-4_131
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DOI: https://doi.org/10.1007/978-3-540-88518-4_131
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88516-0
Online ISBN: 978-3-540-88518-4
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