The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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3-Finger Robotic Hand and Hand Posture Mapping Algorithm for Avatar Robot

아바타 로봇을 위한 3지 로봇 손과 손 자세 맵핑 알고리즘

  • Kim, Seungyeon (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Sung, Eunho (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Park, Jaeheung (Department of Intelligence and Information, ASRI, RICS, Seoul National University, Advanced Institutes of Convergence Technology)
  • Received : 2022.03.10
  • Accepted : 2022.04.08
  • Published : 2022.08.31
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Abstract

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

Keywords

Acknowledgement

This work was partly supported by Institute of Information communications Technology Planning Evaluation (IITP) grant funded by the Korea government (MSIT) (No.2021-0-00896, Development of 3D collaborative teleoperation technology for unstructured work in harsh environments) and a National Research Foundation of Korea (NRF) grant funded by the Korean government (MSIT) (No. 2021R1A2C3005914)

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