Development of an Anthropomorphic Robotic Arm and Hand for Interactive Humanoids

doi:10.1016/S1672-6529(11)60107-8

Abstract

Abstract:

Humanoid robots are designed and built to mimic human form and movement. Ultimately, they are meant to resemble the size and physical abilities of a human in order to function in human-oriented environments and to work autonomously but to pose no physical threat to humans. Here, a humanoid robot that resembles a human in appearance and movement is built using powerful actuators paired with gear trains, joint mechanisms, and motor drivers that are all encased in a package no larger than that of the human physique. In this paper, we propose the construction of a humanoid-applicable anthropomorphic 7-DoF arm complete with an 8-DoF hand. The novel mechanical design of this humanoid arm makes it sufficiently compact to be compatible with currently available narrating-model humanoids, and to be sufficiently powerful and flexible to be functional; the number of degrees of freedom endowed in this robotic arm is sufficient for executing a wide range of tasks, including dexterous hand movements. The developed humanoid arm and hand are capable of sensing and interpreting incoming external force using the motor in each joint current without conventional torque sensors. The humanoid arm adopts an algorithm to avoid obstacles and the dexterous hand is capable of grasping objects. The developed robotic arm is suitable for use in an interactive humanoid robot.

Key words: humanoid armIhumanoid handIhuman robot interactionIsafe robot armIand torque sensing

Jamie K. Paik, Bu Hyun Shin, Young-bong Bang, Young-Bo Shim. Development of an Anthropomorphic Robotic Arm and Hand for Interactive Humanoids[J].J4, 2012, 9(2): 133-142.

References

[1] Robotics Research Co. ”K-1207i”,
[2012-04-05], http://www.robotics-research.com/

[2] Butterfass J, Hirzinger G, Knoch S, Liu H. DLR’s multisensory articulated hand, Part I: Hard and software architecture. Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998, 2081–2086.

[3] Butterfass J, Hirzinger G., Meusel P, Liu H. DLR’s Multisensory articulated hand, Part II: Parallel torque/position control system. Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998, 2087–2093.

[4] Hirzinger G, Sporer N, Albu-Schaffer A, Hahnle M, Krenn R, Pascucci A, Schedl M. DLR’s torque-controlled light weight robot III: Are we reaching the technological limits now?. Proceedings of IEEE International Conference on Robotics & Automation, Washington DC, USA, 2002, 1710–1716.

[5] Tondu B, Ippolito S, Guiochet J, Daidie A. A seven-degrees-of-freedom robot-arm driven by pneumatic artificial muscles for humanoid robots. The International Journal of Robotics Research, 2005, 24, 257–273.

[6] Bicchi A, Tonietti G. Design, realization and control of soft robot arms for intrinsically safe interaction with humans. Proceedings of IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments, Toulouse, France, 2002, 79–87.

[7] Namiki Y, Imai M, Ishikawa M. Development of a highspeed multifingered hand system and its application to catching. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, 2003, 2666–2671.

[8] Gomez G. An adaptive neural controller for a tendon driven robotic hand. Proceedings of 9th International Conference on Intelligent Autonomous Systems, Tokyo, Japan, 2006.

[9] Shadow Robot Company. Design of a dexterous hand for advanced CLAWAR applications. Proceedings of International Conference on Climbing and Walking robots, Catania, Italy, 2003.

[10] Kawasaki H, Komatsu T, Uchiyama K, Kurinoto T. Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II. IEEE/ASME Transaction on Mechatronics, 2002, 7, 296–300.

[11] Butterfass J, Grebenstein M, Liu H, Hirzinger G. DLR-hand II: Next generation of a dexetrous robot hand. Proceedings of IEEE International Conference of Robotics and Automation, Seoul, Korea, 2001, 109–114.

[12] Yang D, Zhao J, Gu Y, Wang X, Li N, Jiang L, Liu H, Huang H, Zhao D. An anthropomorphic robot hand developed based on underactuated mechanism and controlled by ENG signals. Journal of Bionic Engineering, 2009, 6, 255–263.

[13] Ambrose R O, Aldridge H, Askew R S, Burridge R R, Bluethmann W, Diftler M, Lovchik C, Magruder, D, Rehnmark F. Robonaut: NASA’s space humanoid. IEEE Intelligent Systems, 2000, 15, 57–63.

[14] Borst C, Fischer M, Hirzinger G. Calculating hand configurations for precision and pinch grasps. Proceedings of IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 2002, 1553–1559.

[15] Asfour T, Regenstein K, Azad P, Schroder J, Bierbaum A, Vahrenkamp N, Dillmann R. ARMAR-III: An integrated humanoid platform for sensory-motor control. IEEE-RAS International Conference Humanoid Robots, Genova, Italy, 2006, 169–175.

[16] Murray R, Li Z, Sastry S. A Mathematical Introduction to Robotic Manipulation, CRC press, Boca Raton, FL, USA, 1994.

[17]Lee W, Bang Y, Lee K, Shin B, Paik J K, Kim I. Motion teaching method for complex robot links using motor current. International Journal of Control, Automation, and Systems, 2010, 8, 1–10.

Quick Search Adv. Search