와이어 기반의 적응형 로봇 핸드
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 유홍선 | - |
dc.contributor.author | 김민철 | - |
dc.contributor.author | 송재복 | - |
dc.date.accessioned | 2021-09-05T13:59:31Z | - |
dc.date.available | 2021-09-05T13:59:31Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2014 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/100160 | - |
dc.description.abstract | An adaptive robot hand (AR-Hand) has a stable grasp of different objects in unstructuredenvironments. In this study, we propose an AR-Hand based on a tendon-driven mechanism whichconsists of 4 fingers and 12 DOFs. It weighs 0.5 kg and can grasp an object up to 1 kg. This hand basedon the adaptive grasp mechanism is able to provide a stable grasp without a complex control algorithmor sensor system. The fingers are driven by simple tendon structures with each finger capable ofadaptively grasping the objects. This paper presents a method to decide the joint stiffness. The adaptivegrasping is verified by various grasping experiments involving objects with different shapes and sizes. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 와이어 기반의 적응형 로봇 핸드 | - |
dc.title.alternative | Tendon-driven Adaptive Robot Hand | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 송재복 | - |
dc.identifier.doi | 10.7746/jkros.2014.9.4.258 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.9, no.4, pp.258 - 263 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 9 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 258 | - |
dc.citation.endPage | 263 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001928317 | - |
dc.description.journalClass | 2 | - |
dc.description.journalRegisteredClass | kci | - |
dc.description.journalRegisteredClass | other | - |
dc.subject.keywordAuthor | Robot hand | - |
dc.subject.keywordAuthor | Adaptive grasp | - |
dc.subject.keywordAuthor | Under-actuated mechanism | - |
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