Inverse Kinematics for Object Manipulation with Redundant Multi-fingered Robotic Hands

2009 ◽  
pp. 255-264 ◽  
Author(s):  
Vincenzo Lippiello ◽  
Fabio Ruggiero ◽  
Luigi Villani
Keyword(s):  
Inverse Kinematics ◽  
Object Manipulation ◽  
Robotic Hands

Inverse kinematics and workspace analysis of the metamorphic hand

2014 ◽  
Vol 229 (5) ◽  
pp. 965-975 ◽  
Author(s):  
Zhiguang Gao ◽  
Guowu Wei ◽  
Jian S Dai
Keyword(s):  
Inverse Kinematics ◽  
Constraint Equation ◽  
Geometric Constraints ◽  
Forward Kinematics ◽  
Significant Feature ◽  
Robotic Hands ◽  
Hybrid Mechanism ◽  
Workspace Analysis ◽  
First Time ◽  
Posture Adjustment

This paper investigates for the first time inverse kinematics of a four-fingered metamorphic hand. Compared with the current existing robotic hands, the most significant feature of the metamorphic hand is the introduction of a foldable and reconfigurable palm and its function of metamorphism, which greatly improves the ability of posture adjustment and inter-coordination between fingers. Geometric constraints of the palm are analyzed by using geometric method and constraint equation method, on the basis of which, kinematics of the metamorphic hand are transformed from a hybrid mechanism into serial mechanisms and forward kinematics can be obtained directly. To avoid the complexity of inverse kinematics of the thumb, a method taking advantage of geometric constraints of the palm is introduced to simplify the inverse kinematics of the metamorphic hand and analytical solutions are obtained in a concise form. The workspace of the metamorphic hand is decomposed into palm workspace and finger workspace. A triangle determined by the mounting points is introduced to measure the palm workspace and the simulation of the finger workspace augmented by the palm reveals that the reconfigurable palm contributes tremendously to the flexibility and versatility of the metamorphic hand.

scholarly journals Constraint Study for a Hand Exoskeleton: Human Hand Kinematics and Dynamics

2013 ◽  
Vol 2013 ◽  
pp. 1-17 ◽  
Author(s):  
Fai Chen Chen ◽  
Silvia Appendino ◽  
Alessandro Battezzato ◽  
Alain Favetto ◽  
Mehdi Mousavi ◽  
...  
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Industrial Applications ◽  
Point Of View ◽  
Human Hand ◽  
Anthropometric Data ◽  
Robotic Hands ◽  
Hand Shape ◽  
Hand Exoskeleton ◽  
Reduced Space

In the last few years, the number of projects studying the human hand from the robotic point of view has increased rapidly, due to the growing interest in academic and industrial applications. Nevertheless, the complexity of the human hand given its large number of degrees of freedom (DoF) within a significantly reduced space requires an exhaustive analysis, before proposing any applications. The aim of this paper is to provide a complete summary of the kinematic and dynamic characteristics of the human hand as a preliminary step towards the development of hand devices such as prosthetic/robotic hands and exoskeletons imitating the human hand shape and functionality. A collection of data and constraints relevant to hand movements is presented, and the direct and inverse kinematics are solved for all the fingers as well as the dynamics; anthropometric data and dynamics equations allow performing simulations to understand the behavior of the finger.

In-hand forward and inverse kinematics with rolling contact

Robotica ◽  
2017 ◽  
Vol 35 (12) ◽  
pp. 2381-2399 ◽  
Author(s):  
Lei Cui ◽  
Jie Sun ◽  
Jian S. Dai
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Rolling Contact ◽  
Moving Frame ◽  
Robot Hand ◽  
Robotic Hands ◽  
Geometric Framework ◽  
Univariate Polynomial ◽  
Forward And Inverse Kinematics ◽  
Exponential Formula

SUMMARYRobotic hands use rolling contact to manipulate a grasped object to a desired location, even when the finger and the palm linkage mechanisms lack degrees of freedom. This paper presents a systematic approach to the forward and inverse kinematics of in-hand manipulation. The moving frame method in differential geometry is integrated into the product of exponential formula to establish a pure geometric framework of the kinematics of a robot hand. The forward and inverse kinematics of a multifingered hand are obtained in terms of the joint rates and contact trajectories. A two-fingered planar robot hand and a three-fingered spatial robot hand are used to demonstrate the proposed approach. The proposed formulation amounts to solving a univariate polynomial, providing an alternative to the existing ones that require numerical integration.

Object Manipulation Using Kinect as the 3D Sensor

2013 ◽  
Vol 432 ◽  
pp. 437-441
Author(s):  
Dong Whan Kim ◽  
Jong Eun Ha
Keyword(s):  
Inverse Kinematics ◽  
Target Location ◽  
Vertical Plane ◽  
Object Manipulation ◽  
Robot Motion ◽  
Laser Range Finder ◽  
End Effector ◽  
Laser Range ◽  
3D Data ◽  
Feedback Style

ndustrial robot can extend its capability adopting sensors such as camera and laser range finder. In this paper, we deal with object manipulation including grasping objects on the table and inserting them into the hole on the vertical plane. Kinect is used as the 3D sensor. First, object location and target location is computed after processing 3D data. Robot motion obtained by solving inverse kinematics can have errors so that we adopt visual feedback style approach. Chessboard type marker is attached on the end-effector of the robot and its location with respect to the target is used to correct the robot motion.

scholarly journals Parallel-Distributed Model Deformation in the Fingertips for Stable Grasping and Object Manipulation

2012 ◽  
Vol 2012 ◽  
pp. 1-22
Author(s):  
R. García-Rodríguez ◽  
G. Díaz-Rodríguez
Keyword(s):  
Degrees Of Freedom ◽  
Object Manipulation ◽  
Distributed Model ◽  
Deformation Model ◽  
Robotic Hands ◽  
Performance Improvements ◽  
Control Scheme ◽  
Force Closure ◽  
Closure Conditions ◽  
Deformation Models

The study on the human grip has inspired to the robotics over the past decades, which has resulted in performance improvements of robotic hands. However, current robotic hands do not have the enough dexterity to execute complex tasks. Recognizing this fact, the soft fingertips with hemispherical shape and deformation models have renewed attention of roboticists. A high-friction contact to prevent slipping and the rolling contribution between the object and fingers are some characteristics of the soft fingertips which are useful to improve the grasping stability. In this paper, the parallel distributed deformation model is used to present the dynamical model of the soft tip fingers withn-degrees of freedom. Based on the joint angular positions of the fingers, a control scheme that fuses a stable grasping and the object manipulation into a unique control signal is proposed. The force-closure conditions are defined to guarantee a stable grasping and the boundedness of the closed-loop signals is proved. Furthermore, the convergence of the contact force to its desired value is guaranteed, without any information about the radius of the fingertip. Simulation results are provided to visualize the stable grasping and the object manipulation, avoiding the gravity effect.

Technical Note for “Tactile-Based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands”

2020 ◽  
Vol 5 (2) ◽  
pp. 3475-3476 ◽  
Author(s):  
Wenceslao Shaw-Cortez ◽  
Denny Oetomo ◽  
Chris Manzie ◽  
Peter Choong
Keyword(s):  
Discrete Time ◽  
Object Manipulation ◽  
Technical Note ◽  
Robotic Hands

A High-Resolution, Ultrabroad-Range and Sensitive Capacitive Tactile Sensor based on CNTs/PDMS Composite for Robotic Hands

Nanoscale ◽  
2021 ◽  
Author(s):  
Xiang Fu ◽  
Jiqiang Zhang ◽  
Jianliang Xiao ◽  
Yuran Kang ◽  
Longteng Yu ◽  
...  
Keyword(s):  
High Resolution ◽  
Tactile Sensor ◽  
Object Manipulation ◽  
Object Identification ◽  
Tactile Sensors ◽  
Robotic Hands ◽  
Robotic Perception ◽  
Critical Challenge

Tactile sensors are of great significance for robotic perception improvement to realize stable object manipulation and accurate object identification. To date, it remains a critical challenge to develop a broad-range...

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