Download - Humanoid Hands - uni-hamburg.de
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CHENG GangDec. 2009
Humanoid Hands
Rollin Justin Robot.mp4
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Behind the Video
● Motivation of humanoid hand● Serve the people whatever difficult
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Behind the Video
● Challenge to humanoid hand● Dynamics
– How to grip an object?● Shape● Material● Mass
– How to balance a holding object?● Shape● Material● Mass
– How to release an object?
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Behind the Video
● Challenge to humanoid hand● Intelligence
– How to position the object?● Discover● Position
– How to feel the object?● Vision● Tactile
– How to manipulate the object?● Knowledge● Robust
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Outline
● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand
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Glossary First finger
Little finger
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Glossary
Middle
Palm
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Outline
● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand
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Classification
● By materials● Aluminium● Resin● Polycarbonate● Polyurethane● .... (#$%#@!%!)● A mix of aboves
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Classification
● By functions (Special / Universal)● Grip● Carry● Manipulation
Latest Humanoid Robot.mp4
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Classification
● By driven● Electric motor
– Meka Robotics Compliant Hand.mp4
● Air– Sushi Robot and Patisserie Robot.mp4
● Mechanical– Virginia Tech -- Robot Hand.mp4
Hydraulic
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Outline
● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand
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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
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Outline
● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand
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Simulation
● 3D software – Blender● Commercial product● Model / Animation
● GraspIt!● Robotics Lab, Columbia University● For grasping research
● Gazebo
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Outline
● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand
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Some Providers
● BH8-series Barrett hand● Barrett technology inc. USA
● DIST Hand● Universita di Genova, Italy
● Robonaut Hand● NASA Johnson Space Center, USA
– robonaut.jsc.nasa.hand2.avi
● DLR Hand II● DLR-German Aerospace Center, Germany
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Some Providers
● Ultralight Hand● Research center of Karlsruhe, Germany
● GIFU Hand● Gifu University, Japan
● SHADOW Hand● Shadow Robot Company Ltd, UK
● UB Hand III● Bologna University, Italy
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SHADOW Hand – C5
● 24 DOF● Muscles and the valve manifold in forearm
region● Force output and movement sensitivity
Tomato_Strawberries_512kb.mp4
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SHADOW Hand – C6M
● 24 DOF● Electric “Smart Motor” actuation system● All actuation and sensing
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SHADOW Hand Specification
(Measure: mm) C5 C6M
Finger length 102 102
Thumb length 102 104
Palm length 99 99
Palm thickness 22 22
Pal width 84 84
Thumb base thickness 34 34
Forearm 434 208
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SHADOW Hand Specification
C5 C6M
Weight 3.9kg 4.0kg
Base 1 0
PowerElectornics: 0.7A, 8VValves: 1A, 28V
Electornics: 0.7A, 8VMotors: 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
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SHADOW Hand Kinematics
● DOF● (1+2+2)+(1+1+2)*3+(1+1+2+1)+(1+1)=24<27
● Controllable● (1+2+2)+(1+1+1)*3+(1+1+1+1)+(1+1)=20
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SHADOW Hand Kinematics
Joint Connects Range–C5 Range–C6M Muscle Type
1 Distal-Middle 0 – +90 0 – +90 Coupled pair
2 Middle-Proximal 0 – +90 0 – +90 Coupled pair
3 Proximal-Knuckle -10 – +90 0 – +90 Pair
4 Knuckle-Palm -25 – +25 -25 – +25 Pair
● First, Middle, Ring
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SHADOW Hand Kinematics
Joint Connects Range–C5 Range–C6M Muscle Type
1 Distal-Middle 0 – +90 0 – +90 Coupled pair
2 Middle-Proximal 0 – +90 0 – +90 Coupled pair
3 Proximal-Knuckle -10 – +90 -10 – +90 Pair
4 Knuckle-Metacarpal -25 – +25 -25 – +25 Pair
5 Metacarpal-Palm 0 – +40 0 – +40 Pair
● Little Finger
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SHADOW Hand Kinematics
Joint Connects Range–C5 Range–C6M Muscle Type
1 Distal-Middle -10 – +90 -10 – +90 Pair
2 Middle-Proximal 1 -30 – +30 -30 – +30 Pair
3 Middle-Proximal 2 -15 – +15 -15 – +15 Pair
4 Proximal-Palm 1 0 – +75 0 – +75 Pair
5 Proximal-Palm 2 -60 – +60 -60 – +60 Pair
● Thumb
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SHADOW Hand Kinematics
Joint Connects Range–C5 Range–C6M Muscle Type
1 Palm-Wrist -45 – +35 -40 – +20 Pair
2 Wrist-Forearm -30 – +10 -30 – +10 Pair
● Wrist
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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
(x,y)
l1
l2
l3
a
b
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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
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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.
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Some videos
● BallCatch_512kb.mp4● Egg_handling_512kb.mp4● InSand_512kb.mp4● NASA_Bar_Handle_512kb.mp4● Screw_Cap_512kb.mp4
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Stages for Humanoid Hand
● Housework● Manufacture● Space explore● Disable● Amusement● ...
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Fine
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Reference
● Shadow Dexterous Hand C5 Technical Specification, 2008
● Shadow Dexterous Hand C6M Technical Specification, 2009
● http://www.shadowrobot.com/
● http://tams-www/research/robotics/service_robot/wiki/index.php?n=ShadowHand.ShadowHand
● http://www.touchbionics.com
● Wiki – Hand
● http://www.sugano.mech.waseda.ac.jp/
● http://www.phriends.eu
● http://mekabot.com/
● http://www.youtube.com/
● http://robonaut.jsc.nasa.gov/
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Reference
● http://www.technovelgy.com/ct/Science-Fiction-News.asp?NewsNum=2681
● http://robotic.media.mit.edu
● Toyota Mobiro Co.
● https://www.techfak.uni-bielefeld.de/ags/ni/projects/m6setup/hand.html
● ...