TY - GEN
T1 - Design, realization and sensorization of the dexterous iCub hand
AU - Schmitz, Alexander
AU - Pattacini, Ugo
AU - Nori, Francesco
AU - Natale, Lorenzo
AU - Metta, Giorgio
AU - Sandini, Giulio
PY - 2010
Y1 - 2010
N2 - In this paper we describe the hand of the humanoid iCub, an open source robotic platform funded by the European Commission. The principal design rationale was the necessity to supply the robot with sufficiently dexterous and sensorized hands in order to study complex skills such as manipulation. The final design has 9 actuators for each hand, 12 tactile sensors at each fingertip, 48 pressure sensors in the palm and 17 position sensors. The electronics for the sensors are embedded in the hand. As a preliminary application we tested the hand in a simplified grasping scenario in order to quantitatively evaluate the reliability and repeatability of the overall system.
AB - In this paper we describe the hand of the humanoid iCub, an open source robotic platform funded by the European Commission. The principal design rationale was the necessity to supply the robot with sufficiently dexterous and sensorized hands in order to study complex skills such as manipulation. The final design has 9 actuators for each hand, 12 tactile sensors at each fingertip, 48 pressure sensors in the palm and 17 position sensors. The electronics for the sensors are embedded in the hand. As a preliminary application we tested the hand in a simplified grasping scenario in order to quantitatively evaluate the reliability and repeatability of the overall system.
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U2 - 10.1109/ICHR.2010.5686825
DO - 10.1109/ICHR.2010.5686825
M3 - Conference contribution
AN - SCOPUS:79851498717
SN - 9781424486885
T3 - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
SP - 186
EP - 191
BT - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
T2 - 2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010
Y2 - 6 December 2010 through 8 December 2010
ER -