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Journal articles on the topic 'Dexterous robot'

Author: Grafiati

Published: 4 June 2021

Last updated: 15 February 2022

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1

Guo, Wanjin, Ruifeng Li, Yaguang Zhu, Tong Yang, Rui Qin, and Zhixin Hu. "A Robotic Deburring Methodology for Tool Path Planning and Process Parameter Control of a Five-Degree-of-Freedom Robot Manipulator." Applied Sciences 9, no. 10 (2019): 2033. http://dx.doi.org/10.3390/app9102033.

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Industrial robotics is a continuously developing domain, as industrial robots have demonstrated to possess benefits with regard to robotic automation solutions in the industrial automation field. In this article, a new robotic deburring methodology for tool path planning and process parameter control is presented for a newly developed five-degree-of-freedom hybrid robot manipulator. A hybrid robot manipulator with dexterous manipulation and two experimental platforms of robot manipulators are presented. A robotic deburring tool path planning method is proposed for the robotic deburring tool position and orientation planning and the robotic layered deburring planning. Also, a robotic deburring process parameter control method is proposed based on fuzzy control. Furthermore, a dexterous manipulation verification experiment is conducted to demonstrate the dexterous manipulation and the orientation reachability of the robot manipulator. Additionally, two robotic deburring experiments are conducted to verify the effectiveness of the two proposed methods and demonstrate the highly efficient and dexterous manipulation and deburring capacity of the robot manipulator.

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2

Weng, Ching-Yen, Qilong Yuan, Zhong Jin Lim, and I.-Ming Chen. "Applications of Light-Weight Wearable Devices to Online Programming of Industrial Dual-Arm Robots." Unmanned Systems 08, no. 03 (2020): 211–19. http://dx.doi.org/10.1142/s2301385020500144.

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Dexterous manipulation of dual-arm robots in unstructured environments is very useful. Programming a dual-arm industrial robot to efficiently complete dexterous tasks, however, is especially challenging due to the complexity of its inverse kinematics, motion planning, dual-arm coordination with self-collision avoidance, and so on. This paper presents a systematic solution to accurately manipulate a dual-arm industrial robot on-site via light-weight wearable devices. In the developed system, the human operator directly drives the robot through the human arms motions tracked by the combination of inertial measurement units and handheld joystick controllers. A proper motion retargeting method with self-collision avoidance is used to enable the user to manipulate the robot directly through intuitive arm motions within a comfortable range and ensure the task manipulation with safety in unstructured environments. The developed system has been tested with various tasks, such as the manipulation of objects of different shapes, dexterous turn-over, and dual-arm coordination. Compared with the existing telerobotic systems, the developed system with simultaneous 14 degree-of-freedom teleoperation directly driven by light-weight wearable devices is able to handle more dexterous and accurate manipulation tasks with the capability of fast deployment and self-collision awareness. Such a solution could pave the way for online dual-arm robot programming on efficient manipulation skills transfer in the future.

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Chacón, Alejandro, Pere Ponsa, and Cecilio Angulo. "Cognitive Interaction Analysis in Human–Robot Collaboration Using an Assembly Task." Electronics 10, no. 11 (2021): 1317. http://dx.doi.org/10.3390/electronics10111317.

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In human–robot collaborative assembly tasks, it is necessary to properly balance skills to maximize productivity. Human operators can contribute with their abilities in dexterous manipulation, reasoning and problem solving, but a bounded workload (cognitive, physical, and timing) should be assigned for the task. Collaborative robots can provide accurate, quick and precise physical work skills, but they have constrained cognitive interaction capacity and low dexterous ability. In this work, an experimental setup is introduced in the form of a laboratory case study in which the task performance of the human–robot team and the mental workload of the humans are analyzed for an assembly task. We demonstrate that an operator working on a main high-demanding cognitive task can also comply with a secondary task (assembly) mainly developed for a robot asking for some cognitive and dexterous human capacities producing a very low impact on the primary task. In this form, skills are well balanced, and the operator is satisfied with the working conditions.

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Bauer, Dominik, Cornelia Bauer, Jonathan P. King, et al. "Design and Control of Foam Hands for Dexterous Manipulation." International Journal of Humanoid Robotics 17, no. 01 (2020): 1950033. http://dx.doi.org/10.1142/s0219843619500336.

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There has been great progress in soft robot design, manufacture, and control in recent years, and soft robots are a tool of choice for safe and robust handling of objects in conditions of uncertainty. Still, dexterous in-hand manipulation using soft robots remains a challenge. This paper introduces foam robot hands actuated by tendons sewn through a fabric glove. The flexibility of tendon actuation allows for high competence in utilizing deformation for robust in-hand manipulation. We discuss manufacturing, control, and design optimization for foam robots and demonstrate robust grasping and in-hand manipulation on a variety of different physical hand prototypes.

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5

Umesh, K. N. "Dexterous mechanisms for robot locomotion." Mechanism and Machine Theory 33, no. 8 (1998): 1153–65. http://dx.doi.org/10.1016/s0094-114x(97)00115-8.

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6

Machida, Kazuo, Yoshitsugu Toda, and Toshiaki Iwata. "Space Robotics Researches at Electrotechnical Laboratory: Dexterous EV Robot Technology." Journal of Robotics and Mechatronics 6, no. 5 (1994): 402–7. http://dx.doi.org/10.20965/jrm.1994.p0402.

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Studies on basic technologies on space robots have been conducted at the Electrotechnical Laboratory (ETL) since 1983. The research emphasizes on developing key technologies of dexterous extravehicular robots. It is categorized into four areas: space adaptive mechatronics; telerobotics; on-board skill technology; and motion control of free flying robots in 0-gravity. We have been developing several pilot models such as a dexterous space manipulator system working in a vacuum, a graphic simulator augmented teleoperation system for long-distance robots, a smart end-effector for a large space manipulator arm, and an astronaut reference flying robot. This paper overviews the space robotics research efforts at ETL and presents a current topic of the precise space telerobotics experiment on ETS-VII.

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7

Suzuki, Masakazu. "A Method of Robot Behavior Evolution Based on Intelligent Composite Motion Control." Journal of Robotics and Mechatronics 12, no. 3 (2000): 202–8. http://dx.doi.org/10.20965/jrm.2000.p0202.

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Intelligent Composite Motion Control (ICMC) is a methodology for building up robot systems in which robots realize complex, and dexterous behavior autonomously and adaptively by parameter optimization and use of empirical knowledge only if the motion control for basic element motions is given. In this article, ICMC is first reviewed, mainly for the Method of Knowledge Array, which provides a tool for realizing suboptimal motions for new situations by use of empirical knowledge. Behavior evolution based upon ICMC is proposed, i.e., it is shown how robot motions are coordinated from the most basic motions such as joint rotation, and how they evolve into complex behavior such as dexterous ball throwing.

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8

Jurmain, Jacob C., Andrew J. Blancero, James A. Geiling, MD, et al. "HazBot: Development of a telemanipulator robot with haptics for emergency response." American Journal of Disaster Medicine 3, no. 2 (2008): 87–97. http://dx.doi.org/10.5055/ajdm.2008.0012.

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Objectives: To design a remotely operated robot, “HazBot,” for bioevent disaster response; specifically, to improve existing commercial robots’ capabilities in handling fixed-facility hazmat incidents via a unique robot controller that allows the human operator to easily manipulate HazBot in disaster situations.Design: The HazBot’s design objectives were for a robot to approach a building, open doors, enter, and navigate the building. The robot’s controlling device was designed to provide features not available in current robots: dexterous manipulation and enhanced sensory (touch) feedback via “haptic” technology. The design included a companion simulator to train operators on HazBot.Results: The HazBot met its design goals to do several hazmat-related tasks in place of a human operator: to enter and navigate a building, passing debris and doors as necessary. HazBot’s controller reduced the time for inexperienced users of manipulator robots to complete a door-opening task by 55 percent. HazBot overcame previous problems in operator control of robots, via its dexterous manipulation feature, its partially implemented haptic touch feedback, and via its companion simulator.Conclusions: The HazBot system demonstrates superior capability over existing robots: it is technically sophisticated, yet moderately priced; it has dexterous manipulation to make operator tasks easier, haptic feedback, and an excellent companion simulator. HazBot is optimized for hazmat cleanups; is mobile and scaleable; can serve in multiple environments and uncontrolled conditions; and is optimal for disaster situations. It could potentially be used in other disaster situations to deliver medicine to isolated patients, evaluate such patients, assess a downed fire fighter, etc.

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9

Lee, YongKwun. "A Dexterous Robot Hand with Bio-mimetic Mechanism." Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM 2010.5 (2010): 421–26. http://dx.doi.org/10.1299/jsmeicam.2010.5.421.

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10

Iberall, Thea. "Human Prehension and Dexterous Robot Hands." International Journal of Robotics Research 16, no. 3 (1997): 285–99. http://dx.doi.org/10.1177/027836499701600302.

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CHE, DEMENG, and WENZENG ZHANG. "A DEXTEROUS AND SELF-ADAPTIVE HUMANOID ROBOT HAND: GCUA HAND." International Journal of Humanoid Robotics 08, no. 01 (2011): 73–86. http://dx.doi.org/10.1142/s0219843611002435.

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Gesture-changeable under-actuated (GCUA) function is put forward to make traditional under-actuated hands feel easy to grasp different objects and do simple operations dexterously, simultaneously, this function can lower control difficulties of robotic hands. Based on GCUA function, a GCUA hand based on pulley-belt mechanism is designed in detail and manufactured. The Hand can grasp different objects self-adaptively and change its initial gesture dexterously before touching objects. The hand has 5 fingers and 15 DOFs, each finger utilizes screw-nut transmission, flexible drawstring constraint and belt-pulley under-actuated mechanism to realize GCUA function. The analyses on grasping static forces and grasping stabilities are given. The analyses and experimental results show that GCUA function is very nice and valid. The hands with GCUA function can meet the requirements of grasping and operating with lower control and cost, which is the middle road between traditional under-actuated hands and dexterous hands.

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Pei, Jiu Fang, and Jin Shi Cheng. "Research on Velocity Directional Manipulability of Dexterous Robot Hand." Applied Mechanics and Materials 33 (October 2010): 11–16. http://dx.doi.org/10.4028/www.scientific.net/amm.33.11.

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On the basis of manipulability ellipsoid of manipulator, the velocity directional manipulability of three-fingered dexterous robot hand is defined. Under the condition of given position and orientation, taking the velocity directional manipulability as objective function, the optimal velocity transmission direction is presented in this paper. The given example shows the velocity transmission performance of three-fingered dexterous robot hand on a specific position and orientation.

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13

Lin, Li-Ren, and Han-Pang Huang. "NTU Hand: A New Design of Dexterous Hands." Journal of Mechanical Design 120, no. 2 (1998): 282–92. http://dx.doi.org/10.1115/1.2826970.

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A new five-finger robot hand (NTU hand) with seventeen degrees of freedom (DOF) is developed in this paper. In contrast to traditional tendon-driven robots, the NTU hand has an uncoupled configuration that each finger and joint are all individually driven. Since all actuators, mechanical parts and sensors are packed on the hand, the size of NTU hand is almost the same as a human hand. Such compact design makes the hand easily adapt to the industrial robot arm and the prosthetic applications. Based on the mechanical structure of the NTU hand, the direct and inverse kinematics are developed. In addition, computer simulation with three-dimension graphics is built to evaluate the manipulable range of the NTU hand. From the simulation, the relationship between the hand and the grasped object in a specific point of view can be obtained.

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14

DILLMANN, RÜDIGER, REGINE BECHER, and PETER STEINHAUS. "ARMAR II — A LEARNING AND COOPERATIVE MULTIMODAL HUMANOID ROBOT SYSTEM." International Journal of Humanoid Robotics 01, no. 01 (2004): 143–55. http://dx.doi.org/10.1142/s0219843604000046.

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This paper gives an overview on current and forthcoming research activities of the Collaborative Research Center 588 "Humanoid Robots — Learning and Cooperating Multimodal Robots" which is located in Karlsruhe, Germany. Its research activities can be divided into the following areas: mechatronic robot system components like lightweight 7 DOF arms, 5-fingered dexterous hands, an active sensor head and a spine type central body and skills of the humanoid robot system; multimodal man-machine interfaces; augmented reality for modeling and simulation of robots, environment and user; and finally, cognitive abilities. Some of the research activities are described in this paper, and we introduce the application scenario testing the robot system. In particular, we present a robot teaching center and the execution which is of type "household."

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Zheng, Duan, Xiao Ping Liao, Yuan Yuan Liu, Juan Quan Sun, Rui Qing Fu, and Xin Yu Wu. "Geometric Modeling of Planning Anthropomorphic Robot Hand for Manufacturing Waterproof Glove." Applied Mechanics and Materials 271-272 (December 2012): 1736–41. http://dx.doi.org/10.4028/www.scientific.net/amm.271-272.1736.

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Planning anthropomorphic robot hand for manufacturing waterproof glove, we adopt the geometric modeling method and develop a dexterous robot hand. This robot hand has powerful fingertip force and dexterous motion. This paper presents the design and experiments of this robot hand which has 7 actuated degrees of freedom. Each part of the robot hand has been established the geometric model. For acquiring the powerful force, the finger is driven by tendon, and the driving force from the actuators has been transmitted to the fingers by wire ropes in the arm. The prototype of this robot hand has been developed and tested. This experiment demonstrates that the robot hand can wear the glove efficiently and make accurate gestures which is the user expected. The application of this robot hand in the waterproof glove production line can save the physical labor.

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Li, Minhan, Rongjie Kang, Shineng Geng, and Emanuele Guglielmino. "Design and control of a tendon-driven continuum robot." Transactions of the Institute of Measurement and Control 40, no. 11 (2017): 3263–72. http://dx.doi.org/10.1177/0142331216685607.

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Continuum robots are suitable for operating in unstructured environments owing to their intrinsic compliance. This paper presents a novel tendon-driven continuum robot equipped with two modules and a compliant backbone formed by helical springs. Each module is driven by four parallel arranged tendons to implement a redundant actuation system that guarantees dexterous motions of the robot. A position feedback controller for the continuum robot is then developed, and a quadratic programming algorithm is incorporated into the controller to achieve a smooth configuration of the robot. Experiments results show that the control method has good trajectory tracking performance against external disturbances.

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17

Yang, Wen Zhen, Hua Zhang, Shi Guang Yu, and Wen Hua Chen. "Workspace Analysis and Mechanical Innovation of YWZ Dexterous Hand." Advanced Materials Research 338 (September 2011): 557–65. http://dx.doi.org/10.4028/www.scientific.net/amr.338.557.

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Degrees of freedom (DOFs) and workspace are important factors to evaluate the flexibility of the dexterous hand. This paper develops an original dexterous hand, which has 20 active DOFs and adjustable thumb. Imitating the human hand bone structure, we design a full driven multi-fingered anthropomorphic robot hand (YWZ dexterous hand). For the thumb of YWZ dexterous hand, we innovatively design a metacarpal phalange mechanical structure to adjust thumb’s assembly position and radial orientation relative the palm. We construct coordinate systems to deduce the finger kinematic equations and analyze the finger workspace. A physical prototype of YWZ dexterous hand was manufactured to test its kinematic characteristics and workspace. Experimental results validate the YWZ dexterous hand has large workspace, excellent operating flexibility.

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Liu, Xin-hua, Xiao-hu Chen, Xian-hua Zheng, Sheng-peng Li, and Zhong-bin Wang. "Development of a GA-Fuzzy-Immune PID Controller with Incomplete Derivation for Robot Dexterous Hand." Scientific World Journal 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/564137.

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In order to improve the performance of robot dexterous hand, a controller based on GA-fuzzy-immune PID was designed. The control system of a robot dexterous hand and mathematical model of an index finger were presented. Moreover, immune mechanism was applied to the controller design and an improved approach through integration of GA and fuzzy inference was proposed to realize parameters’ optimization. Finally, a simulation example was provided and the designed controller was proved ideal.

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Chi, Ho-June, Sang-Hun Lee, Byung-June Choi, and Hyouk-Ryeol Choi. "Design of a Dexterous Anthropomorphic Robot Hand." Transactions of the Korean Society of Mechanical Engineers A 30, no. 4 (2006): 357–63. http://dx.doi.org/10.3795/ksme-a.2006.30.4.357.

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Jiang, Li. "Design of a novel dexterous robot hand." Chinese Journal of Mechanical Engineering (English Edition) 17, no. 03 (2004): 360. http://dx.doi.org/10.3901/cjme.2004.03.360.

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21

Kappassov, Zhanat, Juan-Antonio Corrales, and Véronique Perdereau. "Tactile sensing in dexterous robot hands — Review." Robotics and Autonomous Systems 74 (December 2015): 195–220. http://dx.doi.org/10.1016/j.robot.2015.07.015.

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Jun, Bong-Huan, and Hyungwon Shim. "A dexterous crabster robot explores the seafloor." XRDS: Crossroads, The ACM Magazine for Students 20, no. 3 (2014): 38–45. http://dx.doi.org/10.1145/2590691.

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Burridge, R. R., A. A. Rizzi, and D. E. Koditschek. "Sequential Composition of Dynamically Dexterous Robot Behaviors." International Journal of Robotics Research 18, no. 6 (1999): 534–55. http://dx.doi.org/10.1177/02783649922066385.

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Vulliez, P., J. P. Gazeau, P. Laguillaumie, H. Mnyusiwalla, and P. Seguin. "Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation." Robotica 36, no. 8 (2018): 1206–24. http://dx.doi.org/10.1017/s0263574718000346.

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SUMMARYThis paper presents a novel tendon-driven bio-inspired robotic hand design for in-hand manipulation. Many dexterous robot hands are able to produce adaptive grasping, but only a few human-sized hands worldwide are able to produce fine motions of the object in the hand. One of the challenges for the near future is to develop human-sized robot hands with human dexterity. Most of the existing hands considered in the literature suffer from dry friction which creates unwanted backlash and non-linearities. These problems limit the accurate control of the fingers and the capabilities of the hand. Such was the case with our first fully actuated dexterous robot hand: the Laboratoire de Mécanique des Solides (LMS) hand.The mechanical design of the hand relies on a tendon-based transmission system. Developing a fully actuated dexterous robot hand requires the routing of the tendons through the finger for the actuation of each joint. This paper focuses on the evolution of the tendon routing; from the LMS hand to the new RoBioSS dexterous hand. The motion transmission in the new design creates purely linear coupling relations between joints and actuators. Experimental results using the same protocol for the previous hand and the new hand illustrate the evolution in the quality of the mechanical design. With the improvements of the mechanical behavior of the robotic fingers, the hand control software could be extensively simplified. The choice of a common architecture for all fingers makes it possible to consider the hand as a collaboration of four serial robots. Moreover, with the transparency of the motor-joint transmissions, we could use robust, industrial-grade cascaded feedback loops for the axis controls.An inside-hand manipulation task concerning the manipulation of a bottle cap is presented at the end of the paper. As proof of the robustness of the hand, demonstrations of the hand's capabilities were carried out continuously over three days at SPS IPC Drives international exhibition in Nuremberg, in November 2016.

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Gerena, Edison, Florent Legendre, Akshay Molawade, Youen Vitry, Stéphane Régnier, and Sinan Haliyo. "Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation." Micromachines 10, no. 10 (2019): 677. http://dx.doi.org/10.3390/mi10100677.

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Single-cell manipulation is considered a key technology in biomedical research. However, the lack of intuitive and effective systems makes this technology less accessible. We propose a new tele–robotic solution for dexterous cell manipulation through optical tweezers. A slave-device consists of a combination of robot-assisted stages and a high-speed multi-trap technique. It allows for the manipulation of more than 15 optical traps in a large workspace with nanometric resolution. A master-device (6+1 degree of freedom (DoF)) is employed to control the 3D position of optical traps in different arrangements for specific purposes. Precision and efficiency studies are carried out with trajectory control tasks. Three state-of-the-art experiments were performed to verify the efficiency of the proposed platform. First, the reliable 3D rotation of a cell is demonstrated. Secondly, a six-DoF teleoperated optical-robot is used to transport a cluster of cells. Finally, a single-cell is dexterously manipulated through an optical-robot with a fork end-effector. Results illustrate the capability to perform complex tasks in efficient and intuitive ways, opening possibilities for new biomedical applications.

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Liu, Quanquan, Chaoyang Shi, Bo Zhang, et al. "Development of a novel paediatric surgical assist robot for tissue manipulation in a narrow workspace." Assembly Automation 37, no. 3 (2017): 335–48. http://dx.doi.org/10.1108/aa-12-2016-162.

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Purpose Paediatric congenital esophageal atresia surgery typically requires delicate and dexterous operations in a narrow and confined workspace. This study aims to develop a novel robot assisted surgical system to address these challenges. Design/methodology/approach The proposed surgical robot consists of two symmetrical slave arms with nine degree of freedoms each. Each slave arm uses a rigid-dexterous configuration and consists of a coarse positioning manipulator and a distal fine operation manipulator. A small Selective Compliance Assembly Robot Arm (SCARA) mechanism was designed to form the main component of the coarse positioning unit, ensuring to endure large forces along the vertical direction and meet the operational demands. The fine positioning manipulator applied the novel design using flexible shafts and universal joints to achieve delicate operations while possessing a high rigidity. The corresponding kinematics has been derived and then was validated by a co-simulation that was performed based on the combined use of Adams and MATLAB with considering the real robot mass information. Experimental evaluations for the tip positioning accuracy and the ring transfer tasks have been performed. Findings The simulation was performed to verify the correctness of the derived inverse kinematics and demonstrated the robot’s flexibility. The experimental results illustrated that the end-effector can achieve a positioning accuracy within 1.5 mm in a confined 30 × 30 × 30 mm workspace. The ring transfer task demonstrated that the surgical robot is capable of providing a solution for dexterous tissue intervention in a narrow workspace for paediatric surgery. Originality/value A novel and compact surgical assist robot is developed to support delicate operations by using the dexterous slave arm. The slave arm consists of a SCARA mechanism to avoid experiencing overload in the vertical direction and a tool manipulator driven by flexible shafts and universal joints to provide high dexterity for operating in a narrow workspace.

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BROOKS, RODNEY, LIJIN ARYANANDA, AARON EDSINGER, et al. "SENSING AND MANIPULATING BUILT-FOR-HUMAN ENVIRONMENTS." International Journal of Humanoid Robotics 01, no. 01 (2004): 1–28. http://dx.doi.org/10.1142/s0219843604000022.

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We report on a dynamically balancing robot with a dexterous arm designed to operate in built-for-human environments. Our initial target task was for the robot to navigate, identify doors, open them, and proceed through them.

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Gonzalez, Glebys T., Upinder Kaur, Masudur Rahman, et al. "From the Dexterous Surgical Skill to the Battlefield—A Robotics Exploratory Study." Military Medicine 186, Supplement_1 (2021): 288–94. http://dx.doi.org/10.1093/milmed/usaa253.

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ABSTRACT Introduction Short response time is critical for future military medical operations in austere settings or remote areas. Such effective patient care at the point of injury can greatly benefit from the integration of semi-autonomous robotic systems. To achieve autonomy, robots would require massive libraries of maneuvers collected with the goal of training machine learning algorithms. Although this is attainable in controlled settings, obtaining surgical data in austere settings can be difficult. Hence, in this article, we present the Dexterous Surgical Skill (DESK) database for knowledge transfer between robots. The peg transfer task was selected as it is one of the six main tasks of laparoscopic training. In addition, we provide a machine learning framework to evaluate novel transfer learning methodologies on this database. Methods A set of surgical gestures was collected for a peg transfer task, composed of seven atomic maneuvers referred to as surgemes. The collected Dexterous Surgical Skill dataset comprises a set of surgical robotic skills using the four robotic platforms: Taurus II, simulated Taurus II, YuMi, and the da Vinci Research Kit. Then, we explored two different learning scenarios: no-transfer and domain-transfer. In the no-transfer scenario, the training and testing data were obtained from the same domain; whereas in the domain-transfer scenario, the training data are a blend of simulated and real robot data, which are tested on a real robot. Results Using simulation data to train the learning algorithms enhances the performance on the real robot where limited or no real data are available. The transfer model showed an accuracy of 81% for the YuMi robot when the ratio of real-tosimulated data were 22% to 78%. For the Taurus II and the da Vinci, the model showed an accuracy of 97.5% and 93%, respectively, training only with simulation data. Conclusions The results indicate that simulation can be used to augment training data to enhance the performance of learned models in real scenarios. This shows potential for the future use of surgical data from the operating room in deployable surgical robots in remote areas.

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WANG, Zhiheng, Shaoming QIAN, Qinghua YANG, Guanjun BAO, and Libin ZHANG. "Pneumatic Robot Multi-fingered Dexterous Hand - ZJUT Hand." Robot 34, no. 2 (2012): 223. http://dx.doi.org/10.3724/sp.j.1218.2012.00223.

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Caurin, Glauco A. P., and Leonardo M. Pedro. "Hybrid motion planning approach for robot dexterous hands." Journal of the Brazilian Society of Mechanical Sciences and Engineering 31, no. 4 (2009): 289–96. http://dx.doi.org/10.1590/s1678-58782009000400002.

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Okuyama, Masanori, Kaoru Yamashita, Minoru Noda, Masayuki Sohgawa, Takeshi Kanashima, and Haruo Noma. "Miniature Ultrasonic and Tactile Sensors for Dexterous Robot." Transactions on Electrical and Electronic Materials 13, no. 5 (2012): 215–20. http://dx.doi.org/10.4313/teem.2012.13.5.215.

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Wojtara, Tytus, and Kenzo Nonami. "DEXTEROUS HAND AND MANIPULATOR FOR A DEMINING ROBOT." Proceedings of the International Conference on Motion and Vibration Control 6.1 (2002): 455–60. http://dx.doi.org/10.1299/jsmeintmovic.6.1.455.

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Lehman, Amy C., Nathan A. Wood, Shane Farritor, Matthew R. Goede, and Dmitry Oleynikov. "Dexterous miniature robot for advanced minimally invasive surgery." Surgical Endoscopy 25, no. 1 (2010): 119–23. http://dx.doi.org/10.1007/s00464-010-1143-6.

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Ananthanarayanan, S. P., A. A. Goldenberg, and J. Mylopoulos. "A qualitative theoretical framework for ‘common-sense’ based multiple contact robotic manipulation." Robotica 12, no. 2 (1994): 175–86. http://dx.doi.org/10.1017/s0263574700016751.

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SUMMARYThis paper presents a qualitative theoretical formulation for synthesis and analysis of multiple contact dexterous manipulation of an object, using a robot hand. The motivation for a qualitative theory is to build a formalisation of ‘human-like’ common-sense reasoning in robotic manipulation. Using this formalisation, a robot hand can perform finger-tip manipulative movements by analysing the physical laws that govern the robot hand, the object, and their interaction. Traditionally, such analysis have been framed in quantitative terms leading to mathematical systems which become intractable very quickly. Also, quantitative synthesis and analysis, often demand an accurate specification of the parameters in the universe of discourse, which is almost impossible to provide. The qualitative approach inherently encounters both these problems successfully.The qualitative theory is presented in three developmental stages. A qualitative framework of spatial information in the context of dexterous manipulation has been provided. Qualitative models of an object configuration and transformations in them that occur during a manipulation process, have been developed. Finally, the development of a ‘quasi-static’ qualitative framework of a dexterous manipulation process that performs the desired object transformation, has been presented.

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Tanaka, Kenta, Yusuke Kamotani, and Yasuyoshi Yokokohji. "Origami Folding by a Robotic Hand." Journal of Robotics and Mechatronics 20, no. 4 (2008): 550–58. http://dx.doi.org/10.20965/jrm.2008.p0550.

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Dexterous manipulation by a robotic hand is a difficult problem involving (1) how to design a robot that gives the capability to achieve the task and (2) how to control the designed robot to actually conduct the task. In this paper, we take a task-oriented approach called “task capture” to construct a dexterous robot hand system. Before designing the robot, we analyze how a human being conducts the task, focusing on how the target object is manipulated rather than trying to imitate human finger movement. Based on the captured task, we design a robot that manipulates an object in the same way as a human being may do, with a mechanism as simple as possible, rather than concerning human appearance. As a target task, we choose origami paper folding. We first analyze the difficulty of origami manipulation and design a robotic mechanism that folds an origami form, the Tadpole, based on the proposed approach. The proof of how well the “task capture” approach works is demonstrated by a simple robot we developed, which folds a Tadpole consecutively.

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Yang, Wenzhen, Xinli Wu, and Shiguang Yu. "A Master–Slave Control Method for Dexterous Hands with Shaking Elimination Strategy." International Journal of Humanoid Robotics 14, no. 01 (2017): 1650016. http://dx.doi.org/10.1142/s021984361650016x.

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With the limitations of the artificial intelligence, automatic control and sensor technologies, the dexterous hand in unstructured environments to achieve fully autonomous operations is still very difficult. This paper proposed a master–slave control method for dexterous hands with the combination of the data glove and the micro-stepper motor. The hardware of this method included CyberGloveII device, personal computer (PC), integrated control board (ICB), and YWZ dexterous hand (a multi-fingered robot hand with 20 active degrees of freedom (DOFs)). By the CyberGloveII device, we gained human finger joints motion data in real-time firstly, which were preprocessed by a shaking elimination algorithm to ensure the motion stability of the dexterous hand. Then, the motion data were mapped to the dexterous hand joints, respectively. A communication protocol was designed to transfer the motion data between the PC and the ICB. The motion data were transmitted into the ICB through a serial interface driving the corresponding dexterous hand joints. The experimental results showed that this method is feasible, can achieve the open-loop control of dexterous hands, and has excellent movement accuracy, real-time and stability.

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Wawrzyński, Paweł. "Reinforcement Learning with Experience Replay for Model-Free Humanoid Walking Optimization." International Journal of Humanoid Robotics 11, no. 03 (2014): 1450024. http://dx.doi.org/10.1142/s0219843614500248.

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In this paper, a control system for humanoid robot walking is approximately optimized by means of reinforcement learning. Given is a 18 DOF humanoid whose gait is based on replaying a simple trajectory. This trajectory is translated into a reactive policy. A neural network whose input represents the robot state learns to produce appropriate output that additively modifies the initial control. The learning algorithm applied is actor–critic with experience replay. In 50 min of learning, the slow initial gait changes to a dexterous and fast walking. No model of the robot dynamics is engaged. The methodology in use is generic and can be applied to optimize control systems for diverse robots of comparable complexity.

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ZHANG, DAN, BEIZHI LI, JIANGUO YANG, and JIANHE LEI. "DESIGN AND INTELLIGENT CONTROL OF A PIANO PLAYING ROBOT." International Journal of Information Acquisition 06, no. 03 (2009): 203–12. http://dx.doi.org/10.1142/s021987890900193x.

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This paper presents the development of a piano-playing robot in order to provide people a means of entertainment. The design and development of this project includes two parts: the design of a dexterous hand for manipulating a piano and a linear motion control system. The paper first discusses the design of dexterous hand. Then, a motion control solution is determined, a linear railing along with a rack and pinion gear are applied to produce the linear motion. Also, in order to improve the control performance of the linear motion system, the Extended Kalman Filter (EKF) Algorithm is adopted. Finally, a flow chart of the control system is presented. Experimental results show that the piano robot can play designated notes.

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Zhou, Yunhu, Yuanfei Zhang, Fenglei Ni, and Hong Liu. "A Head Control Strategy of the Snake Robot Based on Segmented Kinematics." Applied Sciences 9, no. 23 (2019): 5104. http://dx.doi.org/10.3390/app9235104.

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Head control is important for snake robots to work in an unknown environment. However, the existing methods of head control have certain application limitations for snake robots with different configurations. Thus, a strategy for head control based on segmented kinematics is proposed. Compared with the existing head control strategies, our strategy can adapt to different structures of snake robots, whether wheeled or non-wheeled. In addition, our strategy can realize the accurate manipulation of the snake robot head. The robot body is divided into the base part, neck part and head part. First, parameters of backbone curve are optimized for enlarging the area of the support polygon. Then the desired pose for the head link and the dexterous workspace of the head part can in turn derive the desired position and direction of the end frame for the neck part. An optimization algorithm is proposed to help the end frame of the neck part approach a desired one and obtains the joint angles of the neck part. When the actual frames of the neck part are determined, the dexterous workspace of the head part will cover the desired pose of the head link. Then the TRAC-IK inverse kinematics algorithm is adopted to solve the joint angles of the head part. To avoid the collision between the body and the ground, a trajectory planning method of the overall body in Cartesian space is proposed. Finally, simulations validate the effectiveness of the control strategy.

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Kang, Rongjie, Hélène Chanal, Jian S. Dai, and Pascal Ray. "Comparison of numerical and neural network methods for the kinematic modeling of a hybrid structure robot." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 229, no. 6 (2014): 1162–71. http://dx.doi.org/10.1177/0954406214542169.

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A combination of parallel and serial mechanisms allows for stiff and dexterous motion of the robotic end-effector but increases the complexity of the kinematic problem. Many of the geometric parameters for such robots are difficult to obtain. This paper presents the numerical and neural network methods to solve the kinematics for such a hybrid robot named Exechon®. Both methods avoid the geometric measurement in the real robot. The geometric parameters used in the numerical model are identified by a particle swarm optimization algorithm. At the same time, a radial basis function-based neural network is trained to approximate the kinematics of the Exechon robot. The resultant models are then compared in terms of modeling accuracy and real-time ability. The presented methods are generic and can be applied to other robots with similar structures.

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Andrychowicz, OpenAI: Marcin, Bowen Baker, Maciek Chociej, et al. "Learning dexterous in-hand manipulation." International Journal of Robotics Research 39, no. 1 (2019): 3–20. http://dx.doi.org/10.1177/0278364919887447.

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We use reinforcement learning (RL) to learn dexterous in-hand manipulation policies that can perform vision-based object reorientation on a physical Shadow Dexterous Hand. The training is performed in a simulated environment in which we randomize many of the physical properties of the system such as friction coefficients and an object’s appearance. Our policies transfer to the physical robot despite being trained entirely in simulation. Our method does not rely on any human demonstrations, but many behaviors found in human manipulation emerge naturally, including finger gaiting, multi-finger coordination, and the controlled use of gravity. Our results were obtained using the same distributed RL system that was used to train OpenAI Five. We also include a video of our results: https://youtu.be/jwSbzNHGflM .

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Kawasaki, Haruhisa, and Tetsuya Mouri. "Humanoid Robot Hand and its Applied Research." Journal of Robotics and Mechatronics 31, no. 1 (2019): 16–26. http://dx.doi.org/10.20965/jrm.2019.p0016.

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Humanoid robot hands are expected to replace human hands in the dexterous manipulation of objects. This paper presents a review of humanoid robot hand research and development. Humanoid hands are also applied to multifingered haptic interfaces, hand rehabilitation support systems, sEMG prosthetic hands, telepalpation systems, etc. The developed application systems in our group are briefly introduced.

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Biswal, Bibhuti Bhusan, P. K. Parida, and K. C. Pati. "Kinematic Analysis of a Dexterous Hand." Advanced Materials Research 433-440 (January 2012): 754–62. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.754.

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Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to control, manufacturing and economic reasons. The present work aims at designing and developing a dexterous robotic hand for manipulation of objects.

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Li, Changquing, and Christopher D. Rahn. "Design of Continuous Backbone, Cable-Driven Robots." Journal of Mechanical Design 124, no. 2 (2002): 265–71. http://dx.doi.org/10.1115/1.1447546.

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Continuous backbone robots driven by cables have many potential applications in dexterous manipulation for manufacturing and space environments. Design of these robots requires specification of a stiff yet bendable backbone, selection of cable support heights and spacings, and development of a cable drive system. The robot arm divides into sections that are subdivided into segments bounded by cable supports. Cable pairs attach to the end of each section and provide two axis bending. Thus, with many sections, the arm can be bent into complex shapes to allow redundant positioning of the end effector payload. The kinematics of the entire arm are determined from the segment kinematics. This paper derives and numerically solves the nonlinear kinematics for a single segment of a continuous backbone robot. Optimal spacing of the cable supports maximizes displacement, load capacity, and simplicity of the robot kinematics. An experimental system verifies the theoretically predicted performance.

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Guo, Bing Jing, and Kai Wang. "Dexterous Robot’s Finger Actuated by Pneumatic Artificial Muscle." Advanced Materials Research 383-390 (November 2011): 920–24. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.920.

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Through the structural analysis of hand, using mechatronics ideas, robot fingers based on Pneumatic Muscle Actuators (PMA) is designed and manufactured. Referring to the proportion of manual hand, the finger has three degrees of freedom. The far and middle finger joints are coupled of steel wire transmission mechanism, while the middle finger knuckle and the root are driven by a pair of artificial muscles. In order to realize the feedback control of displacement and the tactile force, the finger’s three joints are installed with three R24HS potentiometer and the fingertip is installed with the touch force sensor. The finger design integrates with mechanical structure, sensing, control and driving system. It achieves the integration and modularization in a maximum extent and completes the full theoretical support and experimental verification for the next step integration design of the flexible bionic robot hand.

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CHEN, ZHAOPENG, NEAL Y. LII, THOMAS WIMBÖCK, SHAOWEI FAN, and HONG LIU. "EXPERIMENTAL EVALUATION OF CARTESIAN AND JOINT IMPEDANCE CONTROL WITH ADAPTIVE FRICTION COMPENSATION FOR THE DEXTEROUS ROBOT HAND DLR-HIT II." International Journal of Humanoid Robotics 08, no. 04 (2011): 649–71. http://dx.doi.org/10.1142/s0219843611002605.

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This paper presents impedance controllers with adaptive friction compensation for the five-finger dexterous robot hand DLR-HIT II in both joint and Cartesian space. An FPGA-based control hardware and software architecture with real-time communication is designed to fulfill the requirements of the impedance controller. Modeling of the robot finger with flexible joints and mechanical couplings in the differential gear-box are described in this paper. In order to address the friction due to the complex transmission system and joint coupling, an adaptive model-based friction estimation method is carried out with an extended Kalman filter. The performance of the impedance controller with both adaptive and parameter-fixed friction compensations for the robot hand DLR-HIT II are analyzed and compared in this paper. Furthermore, gravity estimation is implemented with Least Squares technique to address uncertainties in gravity compensation due to the close proximity and complexity of robot hand components. Experimental results prove that accurate position tracking and stable torque/force response can be achieved with the proposed impedance controller with friction compensation on five-finger dexterous robot hand DLR-HIT II.

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YAMAKOSHI, Masashi, Takefumi IIZAKA, Yoshitaka YOKOO, Ichiro KAWABUCHI, and Kiyoshi HOSHINO. "1A1-D06 Compact humanoid robot hand generating dexterous motions." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2006 (2006): _1A1—D06_1—_1A1—D06_2. http://dx.doi.org/10.1299/jsmermd.2006._1a1-d06_1.

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Ding, Weiliang, Gongfa Li, Guozhang Jiang, Yinfeng Fang, Zhaojie Ju, and Honghai Liu. "Intelligent Computation in Grasping Control of Dexterous Robot Hand." Journal of Computational and Theoretical Nanoscience 12, no. 12 (2015): 6096–99. http://dx.doi.org/10.1166/jctn.2015.4642.

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Huang, Panfeng, Fan Zhang, Jia Cai, Dongke Wang, Zhongjie Meng, and Jian Guo. "Dexterous Tethered Space Robot: Design, Measurement, Control, and Experiment." IEEE Transactions on Aerospace and Electronic Systems 53, no. 3 (2017): 1452–68. http://dx.doi.org/10.1109/taes.2017.2671558.

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Kim, Eun-Hye, Seok-Won Lee, and Yong-Kwun Lee. "A dexterous robot hand with a bio-mimetic mechanism." International Journal of Precision Engineering and Manufacturing 12, no. 2 (2011): 227–35. http://dx.doi.org/10.1007/s12541-011-0031-x.

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