RobotHand.world File Reference

A generic anthropomorphic hand with 4 fingers. More...

Detailed Description

This is an instance of a 4 fingered robot hand with a particular geometry that corresponds to the MA-I developed at IOC.

The geometry for this hand is given by the following anchor points of the fingers on the hand ( $\mathbf{q}_{i,1}$ )

Anchor Point	1	2	3	4
	Finger ()
$\mathbf{q}_{j,1}^x$	9.5	9.5	9.5	40.1650
$\mathbf{q}_{j,1}^y$	-67	0	67	30.012
$\mathbf{q}_{j,1}^z$	197.55	197.55	197.55	66.8142

and by the length of the phalanges ( $p_{j,i}$ )

$p_{j,i}$	Finger ()
Phalanx ()	1	2	3	4
2	76.66	76.66	76.66	76.66
3	56	56	56	56
4	33.805151243	33.805151243	33.805151243	39.862238567

The ranges for the universal joint attaching finger $i$ to the hand palm are given by the minimum and maximum values for $phi_{i,1}$ and $phi_{i,2}$ and the limits for the two revolute joints in-between the phalanx $j$ and $j+1$ are given by the minimum and maximum values for $r_{i,j}$ .

The object,contact points and contact normals (either on the figertip or in the object) indicated in the source file can be modified to solve the kinematics of different grasping problems.

Definition in file RobotHand.world.