Design of non-anthropomorphic robotic hands for anthropomorphic tasks

Edgar Simo Serra, Francesc Moreno-Noguer, Alba Perez-Gracia

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

In this paper, we explore the idea of designing non-anthropomorphic multi-fingered robotic hands for tasks that replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the five fingertips, we develop a method to perform dimensional synthesis for a kinematic chain with a tree structure, with five branches that share three common joints. We state the forward kinematics equations of relative displacements for each serial chain expressed as dual quaternions, and solve for up to five chains simultaneously to reach a number of positions along the hand trajectory. This is done using a hybrid global numerical solver that integrates a genetic algorithm and a Levenberg-Marquardt local optimizer. Although the number of candidate solutions in this problem is very high, the use of the genetic algorithm allows us to perform an exhaustive exploration of the solution space to obtain a set of solutions. We can then choose some of the solutions based on the specific task to perform. Note that these designs match the task exactly while generally having a finger design radically different from that of the human hand.

Original languageEnglish
Title of host publicationASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
Pages377-386
Number of pages10
Volume6
EditionPARTS A AND B
DOIs
Publication statusPublished - 2011
Externally publishedYes
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: 2011 Aug 282011 Aug 31

Other

OtherASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CountryUnited States
CityWashington, DC
Period11/8/2811/8/31

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ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Simo Serra, E., Moreno-Noguer, F., & Perez-Gracia, A. (2011). Design of non-anthropomorphic robotic hands for anthropomorphic tasks. In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 (PARTS A AND B ed., Vol. 6, pp. 377-386) https://doi.org/10.1115/DETC2011-47818