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Construction of A Robot Hand System with A Thumb Based on the Concept of Opposition

基于对立概念的拇指机械手系统构建

基本信息

批准号：
07650514
负责人：
YAMADA Yoji
金额：
$ 1.47万
依托单位：
Toyota Technological Institute
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
1995
资助国家：
日本
起止时间：
1995 至 1996
项目状态：
已结题

项目摘要

This study aims at constructing a robot hand system with a thumb which realizes in a wide motion range finger-or palm-opposition depending on the task given. At the design stage, we determine the hand to have a radially symmetrical configuration for grasping objects in various shapes, while the configuration is inferior in the sense that a human-like robot hand is advantageous in teaching operation because of the similarity. We also considered it important that each finger has a compliant covering to make an areal contact with an object since such a convering improves the opposition performance expecting a wide motion space in which the hand behaves opposition-based grasping. We also designed an advanced tactile sensor, called dynamic tactile sensor (DTS) each element of which has both 3-axis force and slip vibration sensing functions, for localizing an object in the covering and monitoring the areal contact state.In the hardware of the system, we manufactured 7 elements of DTS arranged on the surface of a urethan-based covering, with each element being isolated. Because of the remarkable sensing noise from the DTS,we could not utilize the practical sensor information. However in the software, we studied further on formulating localization algorithms using FEM as well as grasp stability assesment algorithms using a potential function originated in the elastic covering. Finally, we evaluated thier effectiveness and verified those computation in a real-time manner.

本研究旨在建构一个具有拇指的机器人手系统，以实现在一个宽广的运动范围内的手指或手掌的反对取决于给定的任务。在设计阶段，我们确定的手有一个径向对称的配置，以掌握各种形状的物体，而配置是劣势的意义上，一个像人的机器人手是有利的教学操作，因为相似性。我们还认为，重要的是，每个手指都有一个顺应性的覆盖，使一个面接触的对象，因为这样的转换提高了预期的广泛的运动空间，其中的手表现为基于对立的抓持的对立性能。设计了一种新型的触觉传感器--动态触觉传感器（dynamic tactile sensor，简称TMF），该传感器的每个元件都具有三轴力和滑动振动传感功能，用于对覆盖物中的物体进行定位和监测面接触状态。由于传感器噪声的影响，无法利用传感器的实际信息。然而，在软件中，我们进一步研究了制定本地化算法，使用有限元以及把握稳定性评估算法，使用的潜在功能起源于弹性覆盖。最后，我们评估了它们的有效性，并以实时的方式验证了这些计算。