An inverse-kinematics table-based solution of a humanoid robot finger with nonlinearly coupled joints

IEEE/ASME Transactions on Mechatronics

Volumn 14, Issue 3, 2009, Pages 273-281

  Jiang, Li ^a   Sun, Dong ^b   Liu, Hong ^c  

^a HARBIN INSTITUTE OF TECHNOLOGY   (China)

^b CITY UNIVERSITY OF HONG KONG   (Hong Kong)

^c GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

Humanoid robot finger; Interpolation; Inverse kinematics; Lookup table; Nonlinear coupled joints

Indexed keywords

APPROXIMATE SOLUTION; CLOSED FORM SOLUTIONS; FINGER JOINTS; HUMANOID ROBOT FINGER; INVERSE KINEMATICS SOLUTIONS; JOINT ANGLE; LINEAR INTERPOLATION; LOOKUP TABLE; NONLINEAR COUPLED JOINTS; NONLINEARLY COUPLED; PRACTICAL IMPLEMENTATION;

END EFFECTORS; INTELLIGENT ROBOTS; INTERPOLATION; MODULAR ROBOTS; ROBOTIC ARMS; TABLE LOOKUP;

INVERSE KINEMATICS;

EID: 67650169137     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2008.2005581     Document Type: Article

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