The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지
DOI QR코드

DOI QR Code

Development of a 16 DOF Anthropomorphic Robot Hand with Back-Drivability Joint for Stable Grasping

안정 파지를 위한 16자유도 역구동 관절을 가지는 인간형 로봇 손 개발

  • 양현대 (과학기술연합대학원대학교 지능형로봇공학과) ;
  • 박성우 (과학기술연합대학원대학교 지능형로봇공학과) ;
  • 박재한 (한국생산기술연구원 로봇융합연구그룹) ;
  • 배지훈 (한국생산기술연구원 로봇융합연구그룹) ;
  • 백문홍 (한국생산기술연구원 로봇융합연구그룹)
  • Received : 2011.03.21
  • Accepted : 2011.06.24
  • Published : 2011.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

Keywords

References

  1. K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The Development of Honda Humanoid Robot," in Proc. IEEE Int. Conf. Robotics and Automation, Vol.2, pp.1321-1326, May 16-19, 1998.
  2. J.-H. Oh, D. Hanson, W.-S. Kim, I. Han, J.-Y. Kim, and I.-W. Park, "Design of Android type Humanoid Robot Albert HUBO," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.1428-1433, Oct. 9-15, 2008.
  3. K. Kaneko, F. Kanehiro, M. Morisawa, K. Miura, S. Nakaoka, and S. Kajita, "Cybernetic Human HRP- 4C," 9th IEEE-RAS Int. Conf. Humanoid Robots, pp.7-14, Dec. 7-10, 2009.
  4. J.K. Salisbury and M.T. Mason, Robot Hands and the Mechanics of Manipulation, MIT Press, 1985.
  5. S.C. Jacobsen, E.K. Lversen, D.F. Knutti, R.T. Lohnsan and K.B. Biggers, "Design of the Utah/M.I.T. Dexterous Hand," in Proc. IEEE Int. Conf. Robotics and Automation, pp.1521-1532, Apr, 1986.
  6. C.S. Lovchik and M.A. Diftler, "The Robonaut hand: a dexterous robot hand for space," in Proc. IEEE Int. Conf. Robotics and Automation, Vol.2, pp.907-912, May, 1999. https://doi.org/10.1109/ROBOT.1999.772420
  7. J. Butterfas, M. Grebenstein, H. Liu, and G. Hirzinger, "DLR-hand II: Next generation of a dextrous robot hand," in Proc. IEEE Int. Conf. Robotics and Automation, pp.109-114, May 21-26, 2001.
  8. H. Kawasaki, T. Komatsu, and K. Uchiyama, "Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II," IEEE/ASME Trans. Mechatronics, Vol.7, No.3, pp.296-303, Sep. 2002.
  9. T. Endo, H. Kawasaki, T. Mouri, Y. Ishigura, H. Shimomura, M. Matsumura, and K. Koketsu, "Five-Fingerd Haptic Interface Robot: HIRO III," IEEE Trans. on Haptic, Vol.4, pp.14-27, 2011. https://doi.org/10.1109/TOH.2010.62
  10. W.T. Townsend, "The Barrett Hand Grasper," Journal of Industrial Robot, Vol.27, No.3, pp.181-188, 2000. https://doi.org/10.1108/01439910010371597
  11. Shadow Dexterous Hand, (Shadow Robot Ltd., London 2007) http://www.shadowrobot.com/hand
  12. Z. Chen, N. Y. Lii, T. Wimboeck, S. Fan, M. J, C. H. Borst, and H. Liu, "Experimental Study on Impedance Control for the Five-Finger Dexterous Robot Hand DLR-HIT II," in IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp.5867-5874, Oct. 18-22, 2010.
  13. I. Yamano and T. Maeno, "Five-Fingered Robot Hand using Ultrasonic Motors and Elastic Elements," in Proc. IEEE Int. Conf. Robotics and Automation, pp.2684-2689, April, 2005.
  14. K.J. Cho, J. Rosmarin and H. Asada, "SBC Hand: A Lightweight Robotic Hand with an SMA Actuator Array implementing C-segmentation," in Proc. IEEE Int. Conf. Robotics and Automation, pp.921-926, April, 2007.
  15. T.B. Martin, R.O. Ambrose, M.A. Diftler, R. Jr. Platt, and M.J. Butzer, "Tactile Gloves for Autonomous Grasping with the NASA/DARPA Robonaut," in Proc. IEEE Int. Conf. Robotics and Automation, pp.1713-1718, April 26-May 1, 2004.
  16. B. Choi, S. Lee, H.R. Choi and S. Kang, "Development of Anthropomorphic Robt Hand with Tactile Sensor : SKKU Hand II," in Proc. IEEE Int. Conf. Intelligent Robots and Systems, pp.3779-3784, Oct. 9-15, 2006.
  17. J. Yeda, Y. Ishida, M. Kondo, and T. Ogasawara, "Development of the NAIST-Hand with Vision-Based Tactile Fingertip Sensor," in Proc. IEEE Int. Conf. Robitics and Automation, pp.2332-2337, April 18-22, 2005.
  18. J. Napier, Hands, Princeton Univ. Press, 1993.
  19. S. Arimoto, M. Yoshida, J.-H. Bae, and K. Tahara, "Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination," Journal of Robotic Systems, Vol.20, No.9, pp.517-537, 2003. https://doi.org/10.1002/rob.10102
  20. K. Tahara, S. Arimoto, and M. Yoshida, "Dynamic Object Manipulation using a Virtual Frame by a Triple Soft-Fingered Robotic Hand," in IEEE Int. Conf. Robotics and Automation, pp.4322-4327, May 3-8, 2010.
  21. S. Arimoto and M. Sekimoto, "Natural resolution of ill-posed inverse kinematics for redundant robots: A challenge to Bernstein's Degrees-of-freedom problem," Journal of Robotics and Mechatronics, Vol.18, No.5, pp.651-660, 2006. https://doi.org/10.20965/jrm.2006.p0651
  22. M. Sekimoto and S. Arimoto, "Experimental study on control method for robot arms with redundant joints based upon virtual spring-damper hypothesis," Journal of the Robotics Society of Japan, Vol.25, No.5, pp.785-791, 2007. (in Japanese) https://doi.org/10.7210/jrsj.25.785

Cited by

  1. 와이어 기반의 적응형 로봇 핸드 vol.9, pp.4, 2011, https://doi.org/10.7746/jkros.2014.9.4.258
  2. 인간과의 안전한 상호 작용을 고려한 휴머노이드 조인트 모듈 개발 vol.9, pp.4, 2014, https://doi.org/10.7746/jkros.2014.9.4.264
  3. 손과 팔의 협업에 의한 로봇 펙인홀 작업 vol.10, pp.1, 2011, https://doi.org/10.7746/jkros.2015.10.1.042