Please use this identifier to cite or link to this item:
Title: Design and actuation of humanoid hands for natural grasping
Authors: Tian, Li
Keywords: Engineering::Computer science and engineering
Issue Date: 2021
Publisher: Nanyang Technological University
Source: Tian, L. (2021). Design and actuation of humanoid hands for natural grasping. Doctoral thesis, Nanyang Technological University, Singapore.
Abstract: Since the first prototype robot “WABOT-1” was created in 1973, how to build humanoid robots has been becoming an active research topic in the robotics area. Hands are one of the most articulated parts of humanoid robots. Natural grasping is a target that most humanoid robotic hands are pursuing. While a lot of research was done in the last 30 years for the simulation of human grasping, existing solutions for robotic hands to simulate the natural grasping of a human hand are still not satisfactory. For instance, it is observed that robotic hands are apparently different from human hands when moving or grasping due to the lack of kinematic ability and suitable motion plan. This thesis describes our research of designing robotic hands for social robots and enabling the robotic hands to function as human hands. The research is divided into four fundamental tasks: (i) designing visually pleasant customized robotic hands, (ii) equipping robotic hands with a human-like actuation mechanism, (iii) developing path planning method to simulate human hand grasping, and (iv) mimicking the complex in-hand manipulations.
DOI: 10.32657/10356/155534
Schools: School of Computer Science and Engineering 
Rights: This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0).
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:SCSE Theses

Files in This Item:
File Description SizeFormat 
PhD Thesis (Tian Li)V026.pdf7.61 MBAdobe PDFThumbnail

Page view(s)

Updated on May 31, 2023

Download(s) 50

Updated on May 31, 2023

Google ScholarTM




Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.