title: Kinematic analysis and position/force control of the Anthrobot dextrous hand.
abstract: The increasing demand for robotic applications in unstructured environments is motivating the need for dextrous end-effecters which can cope with the wide variety of tasks and objects encountered in these environments. A new anthropomorphic robot hand (Anthrobot) which was designed for these environments is described. In this paper the problem of developing the kinematics and unit consistent hybrid position/force control of the Anthrobot fingers is considered as the first step toward its utilization for either teleoperation or autonomous operation. A dynamic model of the fingers is identified and used to develop the control laws. The experimental results of applying the control to the Anthrobot are discussed.
authors.affiliation: Dept. of Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY.
authors.forename: K J
authors.initials: KJ
authors.lastname: Kyriakopoulos
authors.forename: J
authors.initials: J
authors.lastname: Van Riper
authors.forename: A
authors.initials: A
authors.lastname: Zink
authors.forename: H E
authors.initials: HE
authors.lastname: Stephanou