Humanoid Hands. CHENG Gang Dec Rollin Justin Robot.mp4

Transcription

1 Humanoid Hands CHENG Gang Dec Rollin Justin Robot.mp4

2 Behind the Video Motivation of humanoid hand Serve the people whatever difficult

3 Behind the Video Challenge to humanoid hand Dynamics How to grip an object? How to balance a holding object? Shape Material Mass Shape Material Mass How to release an object?

4 Behind the Video Challenge to humanoid hand Intelligence How to position the object? How to feel the object? Discover Position Vision Tactile How to manipulate the object? Knowledge Robust

5 Outline Hand glossary Humanoid hands classification How to control the hands Hand simulation softwares An example: SHADOW Hand

6 Glossary First finger Little finger

7 Glossary Middle Palm

8 Outline Hand glossary Humanoid hands classification How to control the hands Hand simulation softwares An example: SHADOW Hand

9 Classification By materials Aluminium Resin Polycarbonate Polyurethane... A mix of aboves

10 Classification By functions (Special / Universal) Grip Carry Manipulation Latest Humanoid Robot.mp4

11 Classification By driven Electric motor Air Meka Robotics Compliant Hand.mp4 Sushi Robot and Patisserie Robot.mp4 Mechanical Virginia Tech -- Robot Hand.mp4 Hydraulic

12 Outline Hand glossary Humanoid hands classification How to control the hands Hand simulation softwares An example: SHADOW Hand

13 Control Teleoperation Direct robot-hand.video1.mpg, robot-hand.video2.mpg Remote operate Justin Humanoid Robot Teleoperation.mp4 Myoelectric (muscle signal) Bionic Hand.mp4 Mind Man Control Robotic Hand With His Mind.mp4 Autonomous Pre-planning Robot Violinist.mp4 By feedback Simon Robot.mp4

14 Outline Hand glossary Humanoid hands classification How to control the hands Hand simulation softwares An example: SHADOW Hand

15 Simulation 3D software Blender Commercial product Model / Animation GraspIt! Robotics Lab, Columbia University For grasping research Gazebo

16 Outline Hand glossary Humanoid hands classification How to control the hands Hand simulation softwares An example: SHADOW Hand

17 Some Providers BH8-series Barrett hand DIST Hand Barrett technology inc. USA Universita di Genova, Italy Robonaut Hand NASA Johnson Space Center, USA robonaut.jsc.nasa.hand2.avi DLR Hand II DLR-German Aerospace Center, Germany

18 Some Providers Ultralight Hand GIFU Hand Gifu University, Japan SHADOW Hand Research center of Karlsruhe, Germany Shadow Robot Company Ltd, UK UB Hand III Bologna University, Italy

19 SHADOW Hand C5 24 DOF Muscles and the valve manifold in forearm region Force output and movement sensitivity Tomato_Strawberries_512kb.mp4

20 SHADOW Hand C6M 24 DOF Electric Smart Motor actuation system All actuation and sensing

21 SHADOW Hand Specification (Measure: mm) C5 C6M Finger length Thumb length Palm length Palm thickness Pal width Thumb base thickness Forearm

22 SHADOW Hand Specification C5 C6M Weight 3.9kg 4.0kg Base 1 0 Power Electornics: 0.7A, 8V Valves: 1A, 28V Electornics: 0.7A, 8V Motors: 2A, 24V Actuation 40 Air Muscles 20 Smart Motor units Communication Contoller Area Network Contoller Area Network Sensing Position, pressure Position, force, temperature and current

23 SHADOW Hand Kinematics DOF (1+2+2)+(1+1+2)*3+( )+(1+1)=24<27 Controllable (1+2+2)+(1+1+1)*3+( )+(1+1)=20

24 SHADOW Hand Kinematics First, Middle, Ring Joint Connects Range C5 Range C6M Muscle Type 1 Distal-Middle Coupled pair 2 Middle-Proximal Coupled pair 3 Proximal-Knuckle Pair 4 Knuckle-Palm Pair

25 SHADOW Hand Kinematics Little Finger Joint Connects Range C5 Range C6M Muscle Type 1 Distal-Middle Coupled pair 2 Middle-Proximal Coupled pair 3 Proximal-Knuckle Pair 4 Knuckle-Metacarpal Pair 5 Metacarpal-Palm Pair

26 SHADOW Hand Kinematics Thumb Joint Connects Range C5 Range C6M Muscle Type 1 Distal-Middle Pair 2 Middle-Proximal Pair 3 Middle-Proximal Pair 4 Proximal-Palm Pair 5 Proximal-Palm Pair

27 SHADOW Hand Kinematics Wrist Joint Connects Range C5 Range C6M Muscle Type 1 Palm-Wrist Pair 2 Wrist-Forearm Pair

28 What's Sensing? Position A Hall effect sensor measured with typical resolution 0.2 degrees senses the rotation of each joint. This data is sampled locally by 12-bit ADC s and transmitted on the CANBUS. The sampling rate is configurable up to 180Hz l3 l2 b a l1 (x,y)

29 What's Sensing Pressure The pressure in each muscle is sensed by a solid-state pressure sensor mounted directly on the valve manifold, and measured with 12-bit resolution across the range of 0-4 bar

30 What's Sensing Force A total of 186 force sensors. 34 of these are distributed on each fingertip giving a touch resolution of approx. 7 sensors per cm². Additionally, 2 texels (touch pixels) cover the palmar side of the middle and proximal phalanges of each finger. These sensors measure contact, forces and their directions using a Quantum Tunneling Composite (QTC). The current design can deliver useful signals for a force range between 300mN/cm² and 40N/cm².

31 Some videos BallCatch_512kb.mp4 Egg_handling_512kb.mp4 InSand_512kb.mp4 NASA_Bar_Handle_512kb.mp4 Screw_Cap_512kb.mp4

32 Stages for Humanoid Hand Housework Manufacture Space explore Disable Amusement...

33 Fine

34 Reference Shadow Dexterous Hand C5 Technical Specification, 2008 Shadow Dexterous Hand C6M Technical Specification, Wiki Hand

35 Reference Toyota Mobiro Co.