The present paper refers to the design of a robotic hand named RL1 hand. This robotic hand has 3 articulated fingers, which adapt themselves to the object that is being held. The fingers movement and auctioning are made through one direct current motor. The control is done through simple commands and can be sent from any computer, as a string of characters. One special characteristic this robotic hand has is that its mechanism, its electronic control and its 250 gr weight actuator are all embodied in the ASIBOT Robot. This arm was developed to help disable people or people with special needs. Apart from the topics described, the paper also refer to a theoretical study made to optimize the size and localization of the underactuated fingers' pulleys in order to exploit the most of the strength made by the tendon. Thanks to this study, better results would significantly improve these fingers' design

This paper presents new methodology to solve the inverse dynamics of the humanoid robots. The objective is to calculate the joints' torque in order to select in optimal way the robot's gait and actuators. The main advantage of the method is its simplicity that everyone can implement it easily using common software packages which are not prepared for the humanoid robot modeling, like Matlab robotics toolbox. The inverse dynamics solving is divided in two parts, the upper and lower extremities (including the body). At the same time it is necessary to analyze separately the phases on simple, and double support. The first one doesn't present so much difficulty by using conventional manipulator dynamic modeling. But during the double support phase the modeling is performing for each leg separately by using balanced mass distribution between them. This distribution is based on the reaction forces calculation for each supported leg. The developed method had been applied to the 21 DOF and 1.4 m height Rh-0 humanoid robot under development at the Robotics Lab. of the University Carlos III of Madrid.