A robot hand driven by hydraulic cluster actuators


To enable a humanoid robot to use its hand in the whole body motions, such as hanging, climbing or using a ladder, we developed a robot hand driven by a powerful but backdrivable cluster EHA. A miniature crescent trochoid pump with high discharging pressure was developed. The design of a direct casted cylinder manifold with low hydraulic friction is also… (More)
DOI: 10.1109/HUMANOIDS.2014.7041335


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@article{Kang2014ARH, title={A robot hand driven by hydraulic cluster actuators}, author={Tianyi Kang and Hiroshi Kaminaga and Yoshihiko Nakamura}, journal={2014 IEEE-RAS International Conference on Humanoid Robots}, year={2014}, pages={39-44} }