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Functioning of Intelligence and Dexterity in Multi-Fingered Hands by Sensory-Motor Coordination

通过感觉运动协调来发挥多指手的智力和灵活性

基本信息

批准号：
15360141
负责人：
ARIMOTO Suguru
金额：
$ 6.27万
依托单位：
Ritsumeikan University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15360141/
关键词：
sensory feedbadk multi-fingered hand intelligent control stable grasping obiect manipulation stable on a manifold system with redundant DOFs 3-D object manipulation ピンチング作業冗長関節系巧みさ指数知的制御ピンチング動作

项目摘要

Pinching based on the finger-thumb opposition was first modeled in an explicity way by taking into account rolling contact constraints. Under this research project, stability of pinching motions in a dynamic sense is analyzed under the assumption that finger-ends are of hemispherical shape but rigid. The most noteworthy outcomes under this project must be summarized in the followings : 1) "Blind grasping" can function even in the case of a pair of robot fingers likely as human grasp on object even if they close eyes and 2) "Dexterity Analysis" can be done through introducing "dexterity index" and aiming at role-sharing among different joints of thumb and index finger.The final goal of the project is to realize 3-Dimensional stable grasping by means of two or more fingers with multiple joints moving in 3-Dimensional space. Regardless of the non-holonomic constraint of rolling contacts in 3-D space, a whole fingers-object system model with non-holonomic constraints could be derived in a rigorous way. Then, it is shown theoretically that there exists a signal of fingers-thumb opposition force that realizes the stable pinching in a dynamic sense, provided that the object has two parallel flat surfaces.Design of a 3-Dimensional finger with 3 DOFs has been finished and all necessary mechanical parts are made or collected now. Only it remains to carry out the experiment of 3-D stable grasping by using this pair of 3-D robot fingers.

首先通过考虑滚动接触约束，以显式方式对基于手指-拇指相对的捏取进行建模。在本研究计画中，假设手指端部为半球形但为刚性，分析动态意义下的捏取运动的稳定性。该项目下最值得注意的成果必须总结如下：1）“盲抓取”即使在一对机器人手指的情况下也可以起作用，即使他们闭上眼睛也像人类抓取物体一样; 2）“灵巧性分析”可以通过引入“灵巧性指数”来进行，并针对角色-拇指和食指不同关节之间的共享。该项目的最终目标是通过两个或多个手指的多个关节在三维空间中运动来实现三维稳定抓取。在不考虑三维空间滚动接触的非完整约束的情况下，可以严格推导出具有非完整约束的手指-物体系统模型。然后，从理论上证明了当物体具有两个平行平面时，存在一个实现动态稳定捏手的手指-拇指反作用力信号，完成了一个具有3个自由度的三维手指的设计，并完成了所需的机械部件的制作。利用这对三维机器人手指进行三维稳定抓取的实验尚待完成。