Design of non-anthropomorphic robotic hands for anthropomorphic tasks

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

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
ページ377-386
ページ数10
PARTS A AND B
DOI
出版ステータスPublished - 2011
外部発表はい
イベントASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
継続期間: 2011 8 282011 8 31

出版物シリーズ

名前Proceedings of the ASME Design Engineering Technical Conference
番号PARTS A AND B
6

Other

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

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 機械工学
  • コンピュータ サイエンスの応用
  • コンピュータ グラフィックスおよびコンピュータ支援設計

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