DLR-Hand II: next generation of a dextrous robot hand Export

@inproceedings{citeulike:3143353, abstract = {This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I we analysed. An open skeleton structure for better maintenance with semi-shell housing and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30 N on the fingertip. The newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines, are outlined. The Cartesian impedance control of all the fingers completes the new 13-DOF hand.}, author = {Butterfass, J. and Grebenstein, M. and Liu, H. and Hirzinger, G.}, booktitle = {Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on}, citeulike-article-id = {3143353}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ROBOT.2001.932538}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=932538}, citeulike-linkout-2 = {http://dx.doi.org/http://dx.doi.org/10.1109/ROBOT.2001.932538}, citeulike-linkout-3 = {http://dx.doi.org/10.1109/ROBOT.2001.932538}, doi = {10.1109/ROBOT.2001.932538}, journal = {Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on}, keywords = {4finger, dlr, roboterhand}, pages = {109--114 vol.1}, posted-at = {2008-08-21 08:08:02}, priority = {0}, title = {DLR-Hand II: next generation of a dextrous robot hand}, url = {http://dx.doi.org/10.1109/ROBOT.2001.932538}, volume = {1}, year = {2001} }

TY - CONF ID - citeulike:3143353 L3 - citeulike-article-id:3143353 N2 - This paper outlines the 2nd generation of multisensory hand design at DLR, based on the results of the DLR Hand I we analysed. An open skeleton structure for better maintenance with semi-shell housing and the new automatically reconfigurable palm have been equipped with more powerful actuators to reach 30 N on the fingertip. The newly designed sensors as the 6-DOF fingertip force torque sensor, the integrated electronics and the new communication architecture with a reduction of cabling to the hand to only 12 lines, are outlined. The Cartesian impedance control of all the fingers completes the new 13-DOF hand. JF - Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on EP - 114 vol.1 TI - DLR-Hand II: next generation of a dextrous robot hand VL - 1 T2 - Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on SP - 109 KW - 4finger KW - dlr KW - roboterhand AU - Butterfass, J AU - Grebenstein, M AU - Liu, H AU - Hirzinger, G PY - 2001/// UR - http://dx.doi.org/10.1109/ROBOT.2001.932538 ER -