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《机械工程前沿(英文)》 2022年 第17卷 第3期 doi: 10.1007/s11465-022-0696-0
关键词: function-oriented tendon driven prosthetic hand optimization humanoid underactuated
Analysis and optimal design of an underactuated finger mechanism for LARM hand
Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU
《机械工程前沿(英文)》 2011年 第6卷 第3期 页码 332-343 doi: 10.1007/s11465-011-0229-8
This paper aims to present general design considerations and optimality criteria for underactuated mechanisms in finger designs. Design issues related to grasping task of robotic fingers are discussed. Performance characteristics are outlined as referring to several aspects of finger mechanisms. Optimality criteria of the finger performances are formulated after careful analysis. A general design algorithm is summarized and formulated as a suitable multi-objective optimization problem. A numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics (LARM) hand is illustrated with the aim to show the practical feasibility of the proposed concepts and computations.
关键词: robotic finger underactuated mechanisms design considerations
Hui LI, Ruiqin LI, Jianwei ZHANG
《机械工程前沿(英文)》 2021年 第16卷 第2期 页码 353-362 doi: 10.1007/s11465-020-0620-4
关键词: sliding-mode control robot control discrete-time uncertain systems fuzzy logic
Stability and agility: biped running over varied and unknown terrain
Yang YI,Zhi-yun LIN
《信息与电子工程前沿(英文)》 2015年 第16卷 第4期 页码 283-292 doi: 10.1631/FITEE.1400284
关键词: Underactuated running biped Dynamic balance Varied and unknown terrain
欠驱动3D双足机器人步态切换控制策略 Research Articles
Hai-hui YUAN, Yi-min GE, Chun-biao GAN
《信息与电子工程前沿(英文)》 2019年 第20卷 第8期 页码 1026-1035 doi: 10.1631/FITEE.1800206
标题 作者 时间 类型 操作
Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand
期刊论文
Analysis and optimal design of an underactuated finger mechanism for LARM hand
Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU
期刊论文
Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with
Hui LI, Ruiqin LI, Jianwei ZHANG
期刊论文