Book chapters will be unavailable on Saturday 24th August between 8am-12pm BST. This is for essential maintenance which will provide improved performance going forwards. Please accept our apologies for any inconvenience caused.
To send content items to your account,
please confirm that you agree to abide by our usage policies.
If this is the first time you use this feature, you will be asked to authorise Cambridge Core to connect with your account.
Find out more about sending content to .
To send content items to your Kindle, first ensure firstname.lastname@example.org
is added to your Approved Personal Document E-mail List under your Personal Document Settings
on the Manage Your Content and Devices page of your Amazon account. Then enter the ‘name’ part
of your Kindle email address below.
Find out more about sending to your Kindle.
Note you can select to send to either the @free.kindle.com or @kindle.com variations.
‘@free.kindle.com’ emails are free but can only be sent to your device when it is connected to wi-fi.
‘@kindle.com’ emails can be delivered even when you are not connected to wi-fi, but note that service fees apply.
This paper presents simulation results for basic operation of CALUMA (CAssino Low-cost hUMAnoid robot). The new humanoid robot CALUMA is described with its characteristics of low-cost design and easy-operation behavior. A CALUMA model in ADAMS environment has been elaborated. The CALUMA ADAMS model has been used for a dynamic simulation of robot operation. Three modes for the dynamic simulation have been studied, namely straight walking, walking with a grasped object in the hand, and lifting an object. The results of simulating those basic operations show the feasibility of the proposed design for CALUMA robot and validate its operation. Improvements have been illustrated in the design evolution for the robot structure and operation as suggested by simulation results.
This paper presents the design of a new low-cost, easy operation hand having three 1-dof anthropomorphic fingers of a human size. Experimental results on human cylindrical grasping have been used for designing a 1-dof anthropomorphic finger of a human size. The mechanical design of this finger has been mainly focused on a suitable articulated mechanism. This mechanism transmits the power to the phalanxes for a human-like grasping motion and it can be embedded in the body of the finger itself. The design of a three finger hand has been presented as based on the designed finger module. Experimental tests on a built hand prototype have been carried out in order to show the feasibility of the proposed design and validate its operation.
Email your librarian or administrator to recommend adding this to your organisation's collection.