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Details of Grant 

EPSRC Reference: GR/N01347/01
Title: ROPA: STIFFNESS-BASED DYNAMIC MODELLING & MOTION CONTROL OF A MULTI-FINGERED HAND WITH PASSIVE JOINTS
Principal Investigator: Dai, Professor J
Other Investigators:
Researcher Co-Investigators:
Project Partners:
Department: Mechanical Engineering
Organisation: Kings College London
Scheme: ROPA
Starts: 18 July 2000 Ends: 17 July 2002 Value (£): 76,090
EPSRC Research Topic Classifications:
Robotics & Autonomy
EPSRC Industrial Sector Classifications:
No relevance to Underpinning Sectors Food and Drink
Related Grants:
Panel History:  
Summary on Grant Application Form
The proposed research aims at the forefront research of a multi-fingered hand with passive joints. It is to investigate the stiffness of joints and dynamic coupling between the active and passive joints as well as between an object and an underactuated manipulator (finger). The programme is to augment the Jacobian matrix by incorporating stiffness properties, to prove the concept of using passive joints in a multi-fingered robot hand and to control the hand following any designated motion. Dynamic simulation will be presented and the principles and concept will be proved in a prototype rig produced from the company-sponsored project.
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