Browse > Article
http://dx.doi.org/10.7746/jkros.2015.10.4.179

Force and Pose control for Anthropomorphic Robotic Hand with Redundancy  

Yee, Gun Kyu (Mechanical Engineering, SungKyunKwan University)
Kim, Yong Bum (Mechanical Engineering, SungKyunKwan University)
Kim, Anna (Mechanical Engineering, SungKyunKwan University)
Kang, Gitae (Mechanical Engineering, SungKyunKwan University)
Choi, Hyouk Ryeol (Mechanical Engineering, SungKyunKwan University)
Publication Information
The Journal of Korea Robotics Society / v.10, no.4, 2015 , pp. 179-185 More about this Journal
Abstract
The versatility of a human hand is what the researchers eager to mimic. As one of the attempt, the redundant degree of freedom in the human hand is considered. However, in the force domain the redundant joint causes a control issue. To solve this problem, the force control method for a redundant robotic hand which is similar to the human is proposed. First, the redundancy of the human hand is analyzed. Then, to resolve the redundancy in force domain, the artificial minimum energy point is specified and the restoring force is used to control the configuration of the finger other than the force in a null space. Finally, the method is verified experimentally with a commercial robot hand, called Allegro Hand with a force/torque sensor.
Keywords
Robot hand; Redundancy; Null space control; Force control;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 M. Grebenstein, M. Chalon, G. Hirzinger, and R. Siegwart, "Antagonistically driven finger design for the anthropomorphic DLR Hand Ann System," IEEE-RAS Int. Conf. on Humanoid Robotics, pp. 609-616, Dec. 2010.
2 Joo Young Chun, Byung June Choi, Han Sang Chae, Hyung Pil Moon, Hyouk Ryeol Choi, "Design and Control of Anthropomorphic Robot hand," J. of Korea Robotics Society, vol. 5, no.2, pp. 102-109, 2010.
3 Ma, Raymond R., Lael U. Odhner, and Aaron M. Dollar. "A modular, open-source 3d printed underactuated hand," Proc. IEEE Int. Conf. Robotics and Automation, pp. 2737-2743, 2013.
4 L. U. Odhner, L. P. Jentoft, M. R. Claffee, N. Corson, Y. Tenzer, R. R. Ma, M. Buehler, R. Kohout, R. D. Howe, and a. M. Dollar, "A compliant, underactuated hand for robust manipulation," Int. J. of Robo. Res., vol. 33, no. 5, pp. 736-757, 2014.   DOI
5 Yu Hong-Seon, Kim Min-Cheol, Song Jae-Bok, "Tendon-driven Adaptive Robot Hand," J. of Korea Robotics Society, vol. 9, no. 4, pp. 258-263, 2014.   DOI
6 M. Cutkosky, "On Grasp Choice, Grasp Models, and the Design of hands for manufacturing tasks," IEEE Treans. Robotics and Automation, 1989.
7 J. Hollerbach and K. Suh, "Redundancy resolution of manipulators through torque optimization," IEEE J. Robot. Autom., no. 4, 1987.
8 J. Bae, W. Yang, D. Kim, and Y. Oh, "Robotic arm control inspired by human muscle tension effect under the gravity," Proc. Int. Com. Robotics and Automation, pp. 1404-1411, 2011.
9 Woo Young Kwon, Daegeun Ha, Il Hong Suh, "Imitation Learning of Bimanual Manipulation Skills Considering Both Position and Force Trajectory," J. of Korea Robotics Society, vol. 8, no. 1, pp. 20-28,2013.   DOI
10 O. Khatib, "A Unified Approach for Motion and Force Control of Robot manipulators," IEEE J. Robot. Autom., vol. RA-3, 1987.
11 B. Nemec and L. Zlajpah, "Force control of redundant robots in unstructured environment," IEEE Trans. Ind. Electron., vol. 49, no. 1, pp. 233-240, 2002.   DOI
12 Park, S., & Ji-hun, B., "Development of an anthropomorphic robot hand aimed at practical use for wide service robot application," Proc. IEEE Int. Conf. Automation Science and Engineering, August 2014.