Developer - Centre for Robotics Research
"Kinematics analysis and control of a three-fingered metamorphic robot hand"
by Matteo Calzati, Ketao Zhang, Vincenzo Parenti Castelli, Jian S. Dai
August 2016
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Developer - Centre for Robotics Research
"Kinematics analysis and control of a three-fingered metamorphic robot hand"
by Matteo Calzati, Ketao Zhang, Vincenzo Parenti Castelli, Jian S. Dai
August 2016
https://youtu.be/qKt98WV91pI
KCL Metamorphic Robot Hand: In-Hand Rotation
Published on Mar 4, 2014
Quote:
This video demonstrates in-hand rotation by using only palm motion.
In-hand rotation, along with shift, complex rotation, finger to palm translation and palm to finger translation are the basic elements of in-hand manipulation. In-hand simple rotation and twisting motion are easily achieved with the KCL robotic hand since there is no need to move the fingers; all motion is generated by using the joints of the articulated palm.
https://youtu.be/hEC8l8vqLXg
KCL Metamorphic Robot Hand: Dexterous Origami Carton Folding
Published on Mar 11, 2014
Quote:
King's College London Metamorphic Hand
This video demonstrates the dexterity of the KCL Metamorphic hand by folding a complex origami carton. The hand has a unique feature, namely the metamorphic palm. This articulated mechanism greatly enhances the dexterity of the hand allowing it to perform tasks requiring dexterous manipulation of objects.
This particular version of the hand is controlled by a multilayer embedded control system designed to provide the user with a simple interface. Force control was used during this experiment. Position control is another option.
Project was supervised by prof. Jian S. Dai.
This research was funded by EU PF7 project TOMSY.
https://youtu.be/IvPbm9G6-5U
KCL metamorphic robot hand: two-hand carton folding
Published on May 20, 2014
Quote:
This video demonstrates the use of two robotic hands to fold a free standing, origami type carton.
Only one arm was available so one hand is fixed on the work surface. As a workaround, the main hand moves the object in relation to the stationary hand as necessary.
https://youtu.be/nK3oXKl_Sj8
Metahand-3
Published on Jan 19, 2016
Quote:
A new generation of the metamorphic robot hand with three fingers has been successfully developed by fully exploring the intrinsic properties of the articulated palm. The innovative design of the tendon path for underactuacted fingers mounted on moving couplers of the articulated palm decouples finger motions from the palm motion. This light-weight metamorphic hand has a compact forearm equipped with only five motors and six compliant modules which are able to accommodate an overload on the tendons in both active and passive modes.
https://youtu.be/BJQ9HVSLwm4
Grasping a tube with the Metahand3
Published on Feb 9, 2016
Quote:
This is a test of the Metahand3 on grasping a tube, one of the toys in the list of objects in the frame of an EU project.
https://youtu.be/VtPKrSxEWUI
Grasping a cube with the Metahand3
Published on Feb 9, 2016
Quote:
This is a test of the Metahand3 on grasping the cube, one of the toys in the list of objects in the frame of an EU project.
https://youtu.be/It80nNxwyek
Grasping a spherical ball with the Metahand3
Published on Feb 9, 2016
Quote:
This is a test of the Metahand3 on grasping of various objects.
The ball is one of the toys in the object list with in the project.
https://youtu.be/5qD_icYgjQY
Grasping giraffe with the Metahand3
Published on Feb 9, 2016
Quote:
This is a test of the Metahand3 on grasping the giraffe, one of the toys in the list of objects in the frame of an EU project.