旋转副
拇指
扳手
运动学
机器人
计算机科学
公制(单位)
人工智能
机械手
平面的
模拟
拓扑(电路)
控制工程
工程类
机械工程
计算机图形学(图像)
物理
医学
运营管理
电气工程
经典力学
解剖
作者
Walter G. Bircher,Andrew S. Morgan,Aaron M. Dollar
出处
期刊:Science robotics
[American Association for the Advancement of Science (AAAS)]
日期:2021-05-12
卷期号:6 (54)
被引量:23
标识
DOI:10.1126/scirobotics.abd2666
摘要
Humans use all surfaces of the hand for contact-rich manipulation. Robot hands, in contrast, typically use only the fingertips, which can limit dexterity. In this work, we leveraged a potential energy-based whole-hand manipulation model, which does not depend on contact wrench modeling like traditional approaches, to design a robotic manipulator. Inspired by robotic caging grasps and the high levels of dexterity observed in human manipulation, a metric was developed and used in conjunction with the manipulation model to design a two-fingered dexterous hand, the Model W. This was accomplished by simulating all planar finger topologies composed of open kinematic chains of up to three serial revolute and prismatic joints, forming symmetric two-fingered hands, and evaluating their performance according to the metric. We present the best design, an unconventional robot hand capable of performing continuous object reorientation, as well as repeatedly alternating between power and pinch grasps-two contact-rich skills that have often eluded robotic hands-and we experimentally characterize the hand's manipulation capability. This hand realizes manipulation motions reminiscent of thumb-index finger manipulative movement in humans, and its topology provides the foundation for a general-purpose dexterous robot hand.
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