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Prehension of an anthropomorphic metamorphic robotic hand based on opposition space model

Research output: Chapter in Book/Report/Conference proceedingOther chapter contribution

Guowu Wei, Lei Ren, Jian S. Dai

Original languageEnglish
Title of host publication ICIRA 2017: Intelligent Robotics and Applications
PublisherSpringer Verlag
Pages71-83
Number of pages13
Volume10462 LNAI
ISBN (Electronic)9783319652894
ISBN (Print)9783319652887
DOIs
Publication statusE-pub ahead of print - 6 Aug 2017
Event10th International Conference on Intelligent Robotics and Applications, ICIRA 2017 - Wuhan, China
Duration: 16 Aug 201718 Aug 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume10462 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Conference

Conference10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
CountryChina
CityWuhan
Period16/08/201718/08/2017

King's Authors

Abstract

This paper presents constrained prehension of an anthropomorphic metamorphic robotic hand based on opposition based model. Structure of the metamorphic hand is briefly introduced and grasp evaluation based on the opposition-space model is presented. Kinematics of the robotic hand is then established leading to the formulation of grasp constraint laying background for investigation of dexterity and manipulability of the metamorphic robotic hand.

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