All Outputs (3)

Metamorphic hand based grasp constraint and affordance (2015)
Presentation / Conference
Wei, G., Sun, J., Zhang, X., Pensky, D., Piater, J., & Dai, J. (2015, August). Metamorphic hand based grasp constraint and affordance. Presented at American Society of Mechanical Engineers (ASME) 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conferences (IDETC/CIE 2015), Boston, USA

This paper presents the kinematics and grasp constraint and affordance of a newly designed mobile manipulator with a three- fingered metamorphic robotic hand. Structure design of the mobile manipulator, which contains a Robotino 3.0, a customised robo... Read More about Metamorphic hand based grasp constraint and affordance.

Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm (2015)
Journal Article
Emmanouil, E., Wei, G., & Dai, J. (2015). Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm. Robotica, 34(12), 2788-2805. https://doi.org/10.1017/S0263574715000399

This work presents a method based on spherical trigonometry for computing all joint angles of the spherical metamorphic palm. The spherical palm is segmented into spherical triangles which are then solved and combined to fully solve the palm configur... Read More about Spherical trigonometry-based kinematics for controlling a dexterous robotic hand with an articulated palm.

System design and implementation of a novel robot for apple harvest (2015)
Journal Article
Luo, H., & Wei, G. (2015). System design and implementation of a novel robot for apple harvest. INMATEH - Agricultural Engineering (Online), 46(2), 85-94

The mechanical design of a novel robot system for apple harvest in orchards is introduced in this paper. A description of the working environment is first provided. The robot system is operated in a master–slave manner, which is widely used in surgic... Read More about System design and implementation of a novel robot for apple harvest.