Force and Pose control for Anthropomorphic Robotic Hand with Redundancy

• DOI: 10.7746/jkros.2015.10.4.179
• Publication Date: 2016-02-18T18:36:58Z
• Authors: Gun Kyu Yee; Yong Bum Kim; ANNA KIM; Gitae Kang; Hyouk Ryeol Choi
• Keywords: Robotic hand; Robot hand

The versatility of a human hand is what the researchers eager to mimic. As one attempt, redundant degree freedom in considered. However, force domain joint causes control issue. To solve this problem, method for robotic which similar proposed. First, redundancy analyzed. Then, resolve domain, artificial minimum energy point specified and restoring used configuration finger other than null space. Finally, verified experimentally with commercial robot hand, called Allegro Hand force/torque sensor.