The design and making of a humanoid robotic hand

Transcription

1 The design and making of a humanoid robotic hand presented by Tian Li Research associate Supervisor s Name: Prof. Nadia Magnenat Thalmann,Prof. Daniel Thalmann & Prof. Jianmin Zheng Project 2: Mixed Society of People, Virtual Humans, and Social Robots in Telepresence BeingTogether Centre Date of Presentation : 10 October 2017

2 BTC Task 2.4: Realistic Object Manipulation by a Social Robot in a Social Context Integration in a social robot of an articulated hand for grasping different types of objects. Vision-based detection, recognition and localisation of different types of objects Determination of a strategy for reaching and grasping the object in a human-like way 2

3 Target Static - Looks like human hand Solution: Use silicon artificial skin Dynamic - Moves like human hand Solution: design and making of a humanoid robotic hand Criteria: Dimensions, Degree of freedom(dof), Joints structure and motion range, move accuracy and speed. Other requirement light weight, low cost, easy to make, easy to control

4 Related works Shadow Hand[1] Xu Zhe hand[2] Bebionic hand[3] 40 actuators(20 DOFs) Highly biomimetic Robust and compact [1] Shadow hand: [2] Zhe Xu and Emanuel Todorov, Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration 2016 IEEE International Conference on Robotics and Automation (ICRA) [3] Bebionic hand:

5 How does hand work mechanism Metacarpal-phalangeal joint (MCP) Proximal interphalangeal joint (PIP) Distal interphalangeal joint (DIP) Carpal-metacarpal joint (CMC) Metacarpal-phalangeal joint (MCP) Interphalangeal joint (IP) 15 movable joints, 20DOFs, 27 bones

6 Mechanism design - interlock

7 How does hand work actuation Fingers do not contain muscles (other than arrector pili). The muscles that move the finger joints are in the palm and forearm. The long tendons that deliver motion from the forearm muscles may be observed to move under the skin at the wrist and on the back of the hand. (From Finger - Wikipedia)

8 Actuation design cable-driven Total DOFs reduced from 20 to 6 One cable control 3 joints Thumb have 2 cables

9 Nadine hand conclusion Humanlike mechanical design Dimensions, joints, motion factors Simple actuation method - Cable driven, six actuators 3D printable Low cost, fast, light, motion range control Single model with interlock joint No assemble required Artificial skin compatible

10 Nadine hand - originality [3] [1]Xu, Zhe, Vikash Kumar, and Emanuel Todorov. "A low-cost and modular, 20-DOF anthropomorphic robotic hand: design, actuation and modeling." Humanoid Robots (Humanoids), th IEEE-RAS International Conference on. IEEE, [2] Zhe Xu and Emanuel Todorov, Design of a highly biomimetic anthropomorphic robotic hand towards artificial limb regeneration 2016 IEEE International Conference on Robotics and Automation (ICRA) Single interlocked model

11 Servo bed design HS-5070MH 23.6 x 11.6 x 29mm, 12.5g, 3.8 kg.cm HK15298B 117 x 20 x 80mm 66g, 20 kg.cm Magnenat Thalmann, N., Tian, L., & Yao, F. (2017). Nadine: A Social Robot that Can Localize Objects and Grasp Them in a Human Way Frontiers in Electronic Technologies (pp. 1-23): Springer.

12 Comparisons Hand Developer Mass(g) Size (length x width x thickness, mm) Number of Joints DOF Number of Actuators Actuatio n Method Material Nadine hand NTU IMI x 70 x 13(without artificial skin) DC Motor - Tendons 3D print ABS Shadow Hand Xu Zhe s hand SHADOW ROBOT COMPANY > x 98 x pneumati c motor - Tendons Xu Zhe 942 No data (Human size) DC Motor - Tendons Metal + plastic 3D print ABS + Laser-cut tissues (rubber) Bebionic (2014) RSL steeper >550 ~200 x 92 x DC Motor - Lead Screw Metal

13 Grasp test (1) [1]Cutkosky, M.R., On Grasp Choice, Grasp Models, and the Design of Hands for Manufacturing Tasks. Ieee Transactions on Robotics and Automation, (3): p [2]Li Tian, Nadia Magnenat Thalmann, Daniel Thalmann, Jianmin Zheng, The making of a humanoid hand: problems and solutions, submitted to Front. Robot. AI at 18 May

14 Grasp test (2) The test is based on Cutkosky s hand taxonomy. It shows our robotic hand can grasp in all 16 grasp gestures. [1]Cutkosky, M.R., On Grasp Choice, Grasp Models, and the Design of Hands for Manufacturing Tasks. Ieee Transactions on Robotics and Automation, (3): p [2]Li Tian, Nadia Magnenat Thalmann, Daniel Thalmann, Jianmin Zheng, The making of a humanoid hand: problems and solutions, submitted to Front. Robot. AI at 18 May

15 Grasp test demos

16 Thank you! Q&A