Fuzzy sliding mode control of a finger of a humanoid robot hand

Abstract

The motion control problem for the finger of a humanoid robot hand is investigated. First, the index finger of the human hand is dynamically modelled as a kinematic chain of cylindrical links. During construction of the model, special attention is given to determining bone dimensions and masses that are similar to the real human hand. After the kinematic… (More)
DOI: 10.1111/j.1468-0394.2009.00488.x

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