Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A Study on Humanoid Robot Hand System and Real-Time Grasp Motion Control

인간형 로봇 손 시스템과 실시간 파지 동작 제어에 관한 연구

  • 임미섭 (한국과학기술연구원 지능제어연구센터) ;
  • 오상록 (한국과학기술연구원 지능제어연구센터) ;
  • 손재범 (미시간 대학교 기계공학과) ;
  • 이병주 (한양대학교 전자컴퓨터 공학부) ;
  • 유범재 (한국과학기술연구원 지능제어연구센터) ;
  • 홍예선 (한국과학기술연구원 휴먼로봇연구센터)
  • Published : 2000.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

Keywords

References

  1. K. B. Shimoga, 'Robot grasp synthesis algorithms : a survey', International Journal of Robotics Research, vol. 15, no. 3, pp. 230-266, 1996 https://doi.org/10.1177/027836499601500302
  2. T. Yoshikawa, 'Manipulability of robotic mechanisms', International Journal of Robotics Research, vol. 4, no. 2, pp. 3-9, 1985 https://doi.org/10.1177/027836498500400201
  3. T. Yoshikawa, 'Dynamic manipulability of robot manipulators', International Journal of Robotic Research, vol. 2, no. 2, pp. 113-124, 1985
  4. E. F. R. Crossley and F. G. Umholtz, 'Design of a three-fingered hand', Journal of Mechanics and Machinery Theory, vol. 12, pp. 85-93, 1977 https://doi.org/10.1016/0094-114X(77)90060-X
  5. M. R. Cutkosky and I. Kao, 'Computing and controlling the compliance of a robotic hand', IEEE Trans. on Robotics and Automation, vol. 5, no. 2, pp. 151-165, 1989 https://doi.org/10.1109/70.88036
  6. S. C. Jacobson, E. K. Iverson, D. F. Knutti, R. T. Johnson, and K. B. Biggers, 'Design of the utah/mit dexterous hand,' IEEE Conf. on Robotics and Automation, pp. 1520-1532, 1986
  7. M. E. Rosheim, Robot Evolution: The Development of Anthrobotics, John Wiley & Sons Inc., pp. 218-225, 1994
  8. V. D. Nguyen, 'Constructing force closure grasps', International Journal of Robotics Research, vol. 7, no. 3, pp. 3-16, 1988 https://doi.org/10.1177/027836498800700301
  9. V. D. Nguyen, 'Constructing stable grasps', International Journal of Robotics Research, vol. 8, no. 1, pp. 26-37, 1989 https://doi.org/10.1177/027836498900800102
  10. J. Ponce and B. Faverjon, 'On computing three-finger force-closure grasps of polygonal objects', IEEE. Trans. on Robotics and Automation., vol. 11, no. 6, pp. 868-881, 1995 https://doi.org/10.1109/70.478433
  11. N. S. Pollard and T. Lozano-Perez, 'Grasp stability and feasibility for an arm with an articulated hand', IEEE Conf. on Robotics and Automation, pp.1581-1585, 1990 https://doi.org/10.1109/ROBOT.1990.126234
  12. G. A. Beckey, H. Liu, R. Tomovic, and W. J. Karplus, 'Knowledge-based control of grasping in robot hands using heuristics from human motor skills', IEEE Trans. on Robotics and Automation, vol. 9, no. 6, pp. 709-722, 1993 https://doi.org/10.1109/70.265915
  13. Y. Jeon, et al, 'An object-oriented implementation of behaviored-based control architecture', IEEE Conf. on Robotics and Automation, pp. 706-711, 1996 https://doi.org/10.1109/ROBOT.1996.503857
  14. E. Gat, et al, 'Behaviore control for robotic exploration of planetary surfaces', IEEE Trans. on of Robotics and Automation, vol. 10, no. 4, pp. 490-503, 1994 https://doi.org/10.1109/70.313099
  15. J. K. Rossenblatt and C. E. Thrope, 'Combining multiple goals in a behavior-based architecture', IEEE Conf. on Robotics and Automation, pp. 136-141, 1995 https://doi.org/10.1109/IROS.1995.525787
  16. R. G. Simmons, 'Structured control for autonomous robots', IEEE Trans. on Robotics and Automation, vol. 10, no. 1, pp. 34-43, 1994 https://doi.org/10.1109/70.285583
  17. B. Roth, 'Screws, motors, and wrenches that cannot be bought in a hardware store', International Symposium of Robotics Research, Cambridge, MA:MIT Press, pp. 679-693, 1984
  18. B. Faverion and J. Ponce, 'On computing two-finger force-closure grasps of curved 2d objects', IEEE Conf. on Robotics and Automation, Sacramento, pp. 1581-1585, 1991 https://doi.org/10.1109/ROBOT.1991.131614
  19. J. Ponce, D. Stam, and Faverjon, 'On computing force-closure grasps of curved 2d objects', International Journal of Robotics Research, vol. 12, no. 3, pp. 263-273, 1993 https://doi.org/10.1177/027836499301200305
  20. I. M. Chen and J. W. Burdick, 'Finding antipodal point grasps on irregularly shaped objects', IEEE Conf. on Robotics and Autormtion, pp. 2278-2283, 1992 https://doi.org/10.1109/ROBOT.1992.219920
  21. Mee-Seub Lim, J. Son, S.-R. Oh, N.-Y. Jung, 'Real time grasp synthesis and force-closure grasp of polygonal objects for humanoid robot hands', Proc. of ICAM'98, 1998
  22. S. Arimoto, 'Linear controllable systems,' Nature, vol. 135, pp. 18-27, July, 1990