Dynamic Stable Grasp and Object-Manipulation by Multi-Fingered Hands with Soft Tips Based on Sensory Feedback

基于感觉反馈的软尖多指手的动态稳定抓取和物体操纵

• 批准号: 13650290
• 负责人: ARIMOTO Suguru
• 金额: $ 2.05万
• 依托单位: Ritsumeikan University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650290/
• 关键词: Multi-Fingered Hand; Grasping; Object-Manipulation; Pinching; Stable Grasping; Sensory Feedback; Sensory-Motor Coordination; Stability on a Manifold; ロボットハンド; 柔軟多指ハンド; センサーフィードバック; 姿勢制御; 位置制御

This research project started from noting that human can grasp an object stably and manipulate it dexterously while it is quite difficult to let multi-fingered robot hands to do the same, even though their mechanisms resemble human hands and each of their finger joints is equipped with a superior actuator. We also noted that there is a vast literature concerning the problem of form closure or immobilizability of 2D or 3D objects by using a number of frictionless fingers. It is known that three frictionless fingers suffice to immobilize any 2D object with triangular shape but four fingers are necessary for immobilizing a parallelepiped. Just before starting this research we found that only two fingers are enough to realize secure grasp of a rigid object with parallel flat surfaces in a dynamic sense if finger ends have a hemispherical shape with appropriate radius and thereby rollings are induced between finger ends and object surfaces. The principal reason lies on the fact that a singl … More e rolling contact generates two contact constraint forces, one in the direction normal to the object surface at the contact point and another in the direction tangent to the object surface.In this research project, we firstly verified theoretically that a pair of multi-degrees of freedom robot fingers with hemispherical finger ends can grasp stably a rigid object with non-parallel or parallel flat surfaces and control its orientation angle by means of sensory-motor coordination based on sensory feedback signals constructed on the basis of information of only finger kinematics and measurements of finger joints and the rotational angle of the object. It is also shown that the overall fingers-object system is under-actuated and the total d.o.f. of the system is redundant. Notwithstanding such underactuation and redundancy of the dynamics, it is shown that a new concept of "stability on a manifold" plays a crucial sole in realizing a dynamic force/torque closure (stable grasp) together with concurrent control of the object orientation. Secondly, simulation results on the basis of the CSM (Constraint Stabilization Method) verified the effectiveness of the proposed method of sensory-motor coordination and present guidelines for determining feedback gains in various feedback terms. Finally, experimental results show that concurrent grasp and orientation control of a rigid object can be realized without knowing the size of the object and location of the object mass center. The theory is now under extending to the case of grasp and manipulation of 3D polygonal objects by using two or three multi-dof fingers with spherical ends. Less

本研究项目的出发点是，人类可以稳定地抓住物体并灵活地操纵它，而让多指机器人手做同样的事情是相当困难的，即使它们的机构类似于人手，并且它们的每个手指关节都配备有上级致动器。我们还注意到，有大量的文献涉及的问题的形式封闭或immobilizability的2D或3D对象，通过使用一些无摩擦的手指。众所周知，三个无摩擦的手指足以固定任何具有三角形形状的2D物体，但是四个手指对于固定平行六面体是必要的。就在开始这项研究之前，我们发现，只有两个手指是足够的，以实现安全的抓持刚性物体与平行的平面在动态意义上，如果手指端部有一个半球形的形状与适当的半径，从而滚动之间的手指端部和物体表面诱导。主要原因在于， ...更多信息 e滚动接触产生两个接触约束力，一个在接触点处与物体表面垂直的方向，另一个在与物体表面相切的方向，在本研究项目中，首次从理论上证明了一对半球形指端的多自由度机器人手指能够稳定地抓取非刚性物体，平行或平行的平坦表面，并通过基于感觉反馈信号的感觉-运动协调来控制其定向角度，所述感觉反馈信号仅基于手指运动学和手指关节的测量以及对象的旋转角度的信息来构建。它还表明，整个手指对象系统是欠驱动和总d.o.f.系统是冗余的。尽管这种欠驱动和冗余的动态，它表明，一个新的概念“稳定的流形上”起着至关重要的唯一实现动态力/扭矩关闭（稳定的把握），同时控制的对象取向。其次，基于约束稳定方法（CSM）的仿真结果验证了所提出的方法的有效性的传感器和电机的协调和目前的指导方针，以确定在各种反馈条款的反馈增益。最后，实验结果表明，在不知道物体大小和质心位置的情况下，可以实现对刚性物体的同时抓取和姿态控制。该理论目前正在推广到用两个或三个多自由度球形手指抓取和操纵三维多边形物体的情况。少

项目成果

S.Arimoto, M.Yamaguchi, H.-Y.Han, K.Tahara, P.T.A.Nguyen: "Sensory feedback for dynamic stable pinching by means of a pair of soft fingers"Proc. of the 32nd ISR. 772-777 (2001)

S.Arimoto、M.Yamaguchi、H.-Y.Han、K.Tahara、P.T.A.Nguyen：“通过一对软手指实现动态稳定捏合的感觉反馈”Proc。

P.T.A.Nguyen, S.Arimoto: "Performance of pinching motions of two multi-DOF robotic fingers with soft-tips"Proc. of the 2001 IEEE Int. Conf. on Robotics & Automation. 2344-2349 (2001)

P.T.A.Nguyen，S.Arimoto：“两个具有软尖端的多自由度机器人手指的捏合运动的性能”Proc。

H-Y Han, S.Arimoto, K.Tahara, M.Yamaguchi, P.T.A.Nguyen: "Robotic pinching by means of a pair of soft fingers with sensory feedback"2001 IEEE International Conference on Robotics & Automation. 97-102 (2001)

H-Y Han、S.Arimoto、K.Tahara、M.Yamaguchi、P.T.A.Nguyen：“通过一对具有感觉反馈的软手指进行机器人捏合”2001 年 IEEE 国际机器人会议

H.-Y.Han, S.Arimoto, K.Tahara, M.Yamaguchi, P.T.A.Nguyen: "Robotic pinching by means of a pair of soft fingers with sensory feedback"Proc. of the 2001 IEEE Int. Conf. on Robotics & Automation. 97-102 (2001)

H.-Y.Han、S.Arimoto、K.Tahara、M.Yamaguchi、P.T.A.Nguyen：“通过一对具有感官反馈的软手指进行机器人捏合”Proc。

S.Arimoto, K.Tahara, M.Yamaguchi: "Existence of feedbacks from sensing to action for stable grasping and dexterous manipulation by multi-fingered robot hands"Proc. of the 2001 IEEE Int. Conf. on Robotics & Automation. 524-529 (2001)

S.Arimoto、K.Tahara、M.Yamaguchi：“从传感到动作的反馈的存在，用于多指机器人手的稳定抓取和灵巧操作”Proc。