Download or read book High level Planning of Dexterous In hand Manipulation Using a Robotic Hand written by Urbain Prieur and published by . This book was released on 2013 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work considers a robot equipped with an anthropomorphic hand and aims at providing it with efficient autonomous in-hand manipulation skills. While fine in-hand action planning algorithms have interesting state-of-the-art solutions, we built a competitive high-level control layer to plan the complete in-hand manipulation activity. Our solution generates a sequence of subgoals from an initial to a final configuration provided by the task, thus decomposing in-hand manipulation into simple transitions that can be easily planned by the low-level algorithms. We use a Markov decision process (MDP) to generate the sequence, taking into account the object influence and the desired final subgoal. We use a simple state representation for the sugoals: canonical grasp types from a taxonomy, enabling fast and on-line computation. The transitions between grasp types are modelled as probabilities of success. The simple formulation of the sequence leaves the complete configurations and transitions to be planned by the low-level layer, which can ask for a different subgoal path if required. The MDP can generate the appropriate behaviour if the in-hand action skills of the robot are known. They can be learnt by self-exploration of the robot if possible. Otherwise, the behaviour can be directly learnt from human demonstration. We boost the learning process using an empirical guess of the transition probabilities and an active learning algorithm. We implemented our solution on a real platform. The planning of in-hand manipulation relies on the grasp sequence generated which probability of success is used as an insight of the task achievability for the initial grasp choice.
Download or read book Advanced Bimanual Manipulation written by Bruno Siciliano and published by Springer. This book was released on 2012-04-18 with total page 268 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.
Download or read book Teleoperated Grasping Using an Upgraded Haptic Enabled Human Like Robotic Hand and a CyberTouch Glove written by Qi Zhu and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Grasping, the skill to hold objects and tools while doing in-hand manipulation, still is in many cases an unsolvable problem for robotics, but a natural act for humans. An efficient grasping requires not only human-like robotic hands with articulated fingers but also tactile, force, and kinesthetic sensors for the precise control of the forces and motions exerted during the manipulation. As a fully autonomous robotic dexterous manipulation is too difficult to develop for changing and unstructured environments, an alternative approach is to combine the low-level robot computer control with the higher-level perception and task planning abilities of a human operator equipped with an adequate human-computer interface (HCI). This thesis presents theoretical and experimental contributions to the development of an upgraded haptic-enabled anthropomorphic Ring Ada dexterous robotic hand and a biology-inspired synergistic real-time control system for teleoperated grasping of different objects using a CyberTouch HCI data glove. A fuzzy logic controller module was developed to efficiently control the underactuated Ring Ada' robotic hand during grasping. A machine learning classification system was developed to recognize grasped objects. Experiments have convincingly demonstrated that our novel Ring Ada robotic hand equipped with kinematic position sensors and touch sensors is able to efficiently grasp different lightweight objects through teleoperation.
Download or read book Human Inspired Dexterity in Robotic Manipulation written by Tetsuyou Watanabe and published by Academic Press. This book was released on 2018-06-26 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation
Download or read book In Hand Object Localization and Control Enabling Dexterous Manipulation with Robotic Hands written by Martin Pfanne and published by Springer Nature. This book was released on 2022-08-31 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.
Download or read book Dextrous Robot Hands written by Subramanian T. Venkataraman and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.
Download or read book Intelligent Sensor Based Manipulation with Robotic Hands written by Peter K. Allen and published by . This book was released on 1998 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: Our hand research has focused on enhancing the dexterity of robotic hands and understanding the nature of dexterous manipulation. The premise of the research is that incorporating task level understanding into a manipulation system simplifies robot planning and increases autonomy. The study of task level strategies for dexterous manipulation has led to development of several novel techniques for controlling the fingertip forces during manipulation and fingertip motion planning. The insights into increased autonomy have led to the development of a novel technique for teleoperating robot hands. The traditional technique of teleoperating a robot hand is to use a Dataglove or exoskeleton master; there is a direct mapping from the human hand to the robot hand. This approach has several limitations which we have addressed by using a simpler control interface with a joystick or keyboard. Enhancing the robot hand's autonomy allows for simpler control strategies and gives it greater functionality than by traditional means. Control of the hand is shared between the user and the robot. We have developed a prototype teleoperation system using a Utah/MIT hand. Our research will ultimately have application in medicine and industry, for enhancement of prosthetic hands and the development of more complex robotic grippers.
Download or read book Robotics Hands written by Ebrahim A. Mattar and published by LAP Lambert Academic Publishing. This book was released on 2011-09 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics dexterous manipulation with a number fingers has witnessed a number of developments. Hand dexterous manipulation is a difficult task, this due to a number of axioms, the first is related to complex mechanics of motion, while the last is related to the inter-related topics of intelligence and cognitive sciences needed to achieve tasks. This book is projecting fundamental topics related to dexterous Multifinger robotics manipulation. The book is summarizing large number of scientists and researchers efforts over years to assemble robotics hands with high level of dexterity, mobility, and adequate manipulability needs. Over years, there are large number of hand design attempts, some of which have been designed with high level of dexterities. Actuation and sensing have been cumbersome to achieve full skillful abilities for better manipulation. There have been some recent efforts to make use of artificial muscle type for hands actuation. Hands with artificial muscles for actuations is a new venue within robotics hands. Electroactive polymers have emerged with great promise and enabled the improvement of unique mechanisms that are biologically inspired.
Download or read book The Human Hand as an Inspiration for Robot Hand Development written by Ravi Balasubramanian and published by Springer. This book was released on 2014-01-03 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: “The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.
Download or read book Tactile Sensing Skill Learning and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches
Download or read book Stability Through Design written by Prashant Rao and published by . This book was released on 2018 with total page 200 pages. Available in PDF, EPUB and Kindle. Book excerpt: While dexterous robotic manipulation research has made significant advancements in the last two decades in areas of sensors, control strategies, perception and planning, the abilities of robotic hands in unstructured and unpredictable environments are limited. Specifically, a few researchers have shown promising manipulation results with stiffness controllers, which allow for the generation of fingertip forces as a function of displacement. In terms of mechanical design, robotic hands have been converging towards low-inertia, passively compliant, tendon-driven strategies for agility and robustness against environmental impacts. As tendon driven robotic fingers are serial chain systems, various routing strategies with passively compliant tendons lead to unique multi-articular stiffness coupling between the degrees of freedom. The performance of manipulation controllers is highly dependent on the passive properties of the fingers. While tendon-driven robotic fingers are widely accepted to be advantageous for manipulation and stiffness controllers have shown promising results, currently there is no methodology for a thorough analysis of the effects of various compliance arrangements in the fingers on the closed loop properties of stiffness controllers. As a result, we don't have the ability to reliably predict the boundaries of stable operation and determine the limitations due to mechanical parameters for tendon-driven robotic fingers. We also don't have a quantifiable way of exploiting the design of mechanical elements to intrinsically improve the dexterity and robustness of robotic in-hand manipulation by augmenting the controllers. In this dissertation, I present a systematic methodology for analyzing the effects arrangements of passive compliance on tendon driven robotic joints implementing stiffness control strategies. To begin, I develop generalizable comprehensive mechanical models of compliant tendon driven robotic fingers. Then, I identify the various arrangements of passive stiffness elements and analyze their role in the performance of various stiffness control strategies and subsequently towards dexterity. I have analyzed the achievable joint stiffness control boundaries of tendon-driven robotic fingers implementing joint stiffness control leading to a first of its kind generalizable stability boundary that can be applied to robotic fingers with any degrees of freedom and tendon routing strategy. Then, I extend the analysis to Cartesian fingertip space as object manipulation requires accurate control of fingertip force directions and magnitudes. I use the analysis to identify all the mechanical design features and dynamic parameters that have a direct impact on controller stability. I have isolated compliance in parallel to actuators as a significant element for optimization. Optimal linear and nonlinear parallel compliance found using the analysis improved the stability and force tracking accuracy of Cartesian stiffness control even in the presence of external forces. Such features are ideal for in-hand manipulation. Finally, I extend the stability analysis to object-space stiffness controller and optimize linear and nonlinear parallel compliance for improved dexterity, accuracy and robustness of in-hand manipulation. My research not only allows for an accurate prediction of the behavior of stiffness controlled tendon-driven robotic hands but also leads to a mechanical design paradigm informed by the stability of robotic hands allowing for the design of intrinsically stable, robust and dexterous robotic hands that take us one step closer to human-like dexterity
Download or read book A Novel Three finger Dexterous Hand with Visual based Grasp Planning and Tactile based Stable Grasping written by Tao Wang and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic manipulation is a complex field that still faces numerous challenges. With the development of collaborative robots, the end-effector area is just beginning to gain traction, and electrically driven end-effectors are just starting to be widely used in the industry. One of the fundamental requirements for a robot to achieve practical applications is stable grasping. However, in reality, most stable grasping relies on specific static conditions and human experience. As the robotic industry continues to develop more complex and diverse applications, the need for stable grasping to support these high-level applications increases. To achieve more complex and stable grasping functions, a complex end-effector, such as a dexterous hand, becomes essential hardware. This thesis focuses on building a novel practical dexterous hand that can be used in robotic manipulation research. To make better use of the dexterous hand, visual-based grasp planning, and tactile-based stable grasping are necessary to form a stable grasping system. In this thesis, three crucial topics were selected and divided into three parts of the work: dexterous hand, grasp planning, and stable grasping. The dexterous hand part includes the main design work of a modular three-finger dexterous hand called DoraHand and partial work on another one called Eagle Shoal. The performance of the DoraHand and the tactile sensor module is showcased through experiments. Two-finger and five-finger versions of the DoraHand have also been developed and tested in real applications, providing a reliable hardware foundation for further research. The grasp planning part focuses on providing a grasp planning solution for the dexterous hand. As an essential function of using an end-effector, this part starts with an analytic solution that considers the limitations of the dexterous hand mechanism and grasp quality evaluation. A grasp planning network has been developed using both analytic and data-driven approaches. The network features a multi-finger grasp plan representation method and has been successfully verified. The stable grasping part is the final application of this thesis, where the hardware provides the foundation and the stable grasping algorithm utilizes the tactile sensor. An open-source visual-tactile dataset has been developed using the Eagle Shoal dexterous hand. The stable grasping algorithm, built based on this dataset, has been successfully verified with different types of end-effectors, including DoraHand and suction cup gripper. Overall, these three parts of work constitute the critical components of a stable grasping system using a dexterous hand. This system and related dataset enable further research in stable grasping and robotic manipulation. The primary objective of this thesis has been successfully achieved with the development of DoraHand, which has been used by over twenty research institutes and companies. The algorithms developed for grasp planning and stable grasping serve as a foundation for future research in this field, while the dataset can be used as a benchmark for comprehensive robotic research. Further development is needed to explore the potential applications of the dexterous hand in robotic manipulation.
Download or read book Robot In hand Manipulation Using Roller Graspers written by Shenli Yuan and published by . This book was released on 2022 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This work describes the development of a class of dexterous robot hands that use steerable, continuously rotating fingertips to perform complex in-hand manipulation of grasped objects, a task that has alluded many widely used robot graspers. While a typical laboratory robot with a parallel-jaw gripper can perform basic pick-and-place tasks, they lack the fine manipulation proficiency needed for more demanding, precise and varied tasks. Inspired by the human hand, many research efforts are focused on creating and controlling human-like (anthropomorphic) hands in the hopes of duplicating human dexterity. One goal of these designs has been to enable robotic in-hand manipulation. Except for small motions, in-hand manipulation with these hands requires grasp-gaiting, a complex process where the fingers "walk" across the object, making and breaking contacts in order to propel the object to a desired pose, which can be an inefficient and difficult approach for a variety of tasks. So far, the fragility, cost, and complexity of these devices have precluded use outside of a laboratory setting. While we share with other researchers the goal of enabling in-hand manipulation, we achieve it by completely different means. We have developed a series of highly non-anthropomorphic grasping devices - the Roller Graspers - that use rotating fingertips to perform full six-degrees-of-freedom (DoF) in-hand manipulation on grasped objects. We do this by intelligently driving the fingertips across the object. The first Roller Grasper used steerable cylindrical fingertip rollers mounted on a pivoting linkage, for a total of three DoF for each of its three fingers. Using scripted motion control, it demonstrated the feasibility of our in-hand manipulation concept. The second and third versions used spherical fingertips which afforded better grasp stability and range of motion. These designs also supported our development of a hierarchical manipulation architecture that allowed the roller graspers to achieve autonomous in-hand manipulation. The manipulation architecture consisted of a sample-based high-level planner and a heuristic low-level policy that allowed the grasper to perform full 6-DoF manipulation of objects with a variety of shapes and sizes. The final version of our hand, called Tactile-Enabled Roller Grasper (TERG), incorporated a novel tactile sensing system that could extract the surface contour of a grasped object as well as the shear force applied at the contact location, even while the fingertips were rotating. This enabled more diverse and robust in-hand manipulation that was not possible in the previous generations.
Download or read book Neuro Fuzzy Grasp Control for a Teleoperated Five Finger Anthropomorphic Robotic Hand written by Maxwell Joseph Welyhorsky and published by . This book was released on 2021 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots should offer a human-like level of dexterity when handling objects if humans are to be replaced in dangerous and uncertain working environments. This level of dexterity for human-like manipulation must come from both the hardware, and the control. Exact replication of human-like degrees of freedom in mobility for anthropomorphic robotic hands are seen in bulky, costly, fully actuated solutions, while machine learning to apply some level of human-like dexterity in underacted solutions is unable to be applied to a various array of objects. This thesis presents experimental and theoretical contributions of a novel neuro-fuzzy control method for dextrous human grasping based on grasp synergies using a Human Computer Interface glove and upgraded haptic-enabled anthropomorphic Ring Ada dexterous robotic hand. Experimental results proved the efficiency of the proposed Adaptive Neuro-Fuzzy Inference Systems to grasp objects with high levels of accuracy.
Download or read book Robotics Science written by Michael Brady and published by MIT Press. This book was released on 1989 with total page 642 pages. Available in PDF, EPUB and Kindle. Book excerpt: These 16 contributions provide a field guide to robotics science today.These 16 contributions provide a field guide to robotics science today. Each takes up current work the problems addressed, and future directions in the areas of perception, planning, control, design, and actuation. In a substantial introduction, Michael Brady summarizes a personal list of 30 problems, problem areas, and issues that lie on the path to development of a science of robotics. These involve sensing vision, mobility, design, control, manipulation, reasoning, geometric reasoning and systems integration.ContentsThe Problems of Robotics, Michael Brady - Perception. A Few Steps Toward Artificial 3-D Vision, Olivier D. Faugeras - Contact Sensing for Robot Active Touch, Paolo Dario - Learning and Recognition in Natural Environments, Alex Pentland and Robert Bolles - 3-D Vision for Outdoor Navigation by an Autonomous Vehicle, Martial Hebert and Takeo Kanade - Planning. Geometric Issues in Planning Robot Tasks, Tomas Lozano Perez and Russell Taylor - Robotic Manipulation: Mechanics and Planning, Matthew Mason - Control. A Survey of Manipulation and Assembly: Development of the Field and Open Research Issues, Daniel Whitney - Control, Suguru Arimoto - Kinematics and Dynamics for Control, John Hollerbach - The Whole Iguana, Rodney Brooks - Design and Actuation. Design and Kinematics for Force and Velocity Control of Manipulators and End Effectors, Bernard Roth - Arm Design, Haruhiko Asada - Behavior Based Design of Robot Effectors, Stephen Jacobsen, Craig Smith, Klaus Biggers, and Edwin Iversen - Using an Articulated Hand to Manipulate Objects, Kenneth Salisbury, David Brock and Patrick O'Donnell - Legged Robots, Marc RaibertRobotics Science is included in the System Development Foundation Benchmark series. System Development Foundation grants have contributed significantly to the development of robotics in the United States during the 1980s.
Download or read book Underactuated Robotic Hands written by Lionel Birglen and published by Springer Science & Business Media. This book was released on 2008-02-11 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.
Download or read book Humanoid Robotics and Neuroscience written by Gordon Cheng and published by CRC Press. This book was released on 2014-12-19 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid robots are highly sophisticated machines equipped with human-like sensory and motor capabilities. Today we are on the verge of a new era of rapid transformations in both science and engineering-one that brings together technological advancements in a way that will accelerate both neuroscience and robotics. Humanoid Robotics and Neuroscienc
