A real-time strategy for dexterous manipulation: Fingertips motion planning, force sensing and grasp stability

Daoud, Naël; Gazeau, Jean Pierre; Zeghloul, S.; Arsicault, Marc

doi:10.1016/j.robot.2011.07.011

Cited by 28 publications

(13 citation statements)

References 15 publications

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“…As indicated in the flowchart presented in Figure 1, the first step of the grasping strategy is to position the fingers over the surface of the object at the points established by the geometric criterion (see [35] At each iteration the dynamic system update the resulting deformations from the applied forces. In order to maintain the object during the handling operation, the applied forces must satisfy the constraints given by equations : Grasping forces applied by the three fingers Figure 13 shows the variation in the norm of the three forces applied to the object.…”

Section: Simulation Resultsmentioning

confidence: 99%

Model-based strategy for grasping3Ddeformable objects using a multi-fingered robotic hand

Zaidi

Ramón

Bouzgarrou

et al. 2017

Robotics and Autonomous Systems

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. Model-based strategy for grasping 3 D deformable objects using a multifingered robotic hand.Robotics and Autonomous Systems, Elsevier, 2017, 95, pp.196-206 AbstractThis paper presents a model-based strategy for 3D deformable object grasping using a multi-fingered robotic hand. The developed contact model is based on two force components (normal force and tangential friction force, including slipping and sticking effects) and uses a non-linear mass-spring system to describe the object deformations due the mechanical load applied by the fingers of the robotic hand. The object-finger interaction is simulated in order to compute the required contact forces and deformations to robustly grasp objects with large deformations. Our approach is able to achieve this by using a non-linear model that outperforms current techniques that are limited to using linear models. After the contact forces computed by the simulation of the contact model guarantee the equilibrium of the grasp, they will be used as set-points for forcecontrolling the closing of the real fingers, and thus, the proposed grasping strategy is implemented. Two different objects (cube and sphere) made from two soft materials (foam and rubber) are tested in order to verify that the proposed model can represent their non-linear deformations and that the proposed grasp strategy can implement a robust grasp of them with a multi-fingered robotic hand equipped with tactile sensors. Thereby, both the grasping strategy and the proposed contact model are validated experimentally.

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Section: Simulation Resultsmentioning

confidence: 99%

Model-based strategy for grasping3Ddeformable objects using a multi-fingered robotic hand

Zaidi

Ramón

Bouzgarrou

et al. 2017

Robotics and Autonomous Systems

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“…The motion strategy developed in [1] was used for computing the fingertips motion. The first manipulation task concerns the rotation of a ruler inside the hand (Fig.…”

Section: Four-fingered Mechanical Handmentioning

confidence: 99%

A New Dexterous Hand Based on Bio-Inspired Finger Design for Inside-Hand Manipulation

Mnyusiwalla

Vulliez

Gazeau

et al. 2016

IEEE Trans. Syst. Man Cybern, Syst.

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This paper presents a new design of finger proposed by the ROBIOSS team of the PPRIME Institute: it is a fully actuated bio-inspired four-degree-of-freedom (DOF) finger driven by four actuators. It has been developed with the aim to replicate fine manipulation with fingertips with a high degree of interaction with the environment. This paper proposes to realize a robotic hand for inside-hand fine manipulation and adaptive grasping. The robotic hand is equipped with fingers whose design is based on a human anatomical finger model. Thus, several fingers can be assembled for building a human-sized dexterous hand with an anthropomorphic look. The modular design offers the ability to choose the number of fingers to be used as well as to adjust finger placement based on the manipulation task requirement. The tendon-based actuation presents a routing of the tendons that minimizes friction, kinematic, and static coupling between different finger axes in the transmission from motors to joints. Unlike many existing robotic hands, including our first anthropomorphic hand, we address the difficulties by decoupling joint motions with a new solution for the universal joint at the base of the finger. The results obtained demonstrate an excellent dynamic behavior and accuracy of the finger motion. Finally, the new finger design led to the development of a fully actuated mechanical hand with four fingers and with 16 DOF: the ROBIOSS hand. The hand was embedded on an industrial robot. A manipulation task that uses simultaneously abduction-adduction motion and flexion-extension motion of the finger demonstrates the potential of the hand for accurate manipulation.

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“…This can be done using an algorithm such as that stated in Daoud et al (2012) and Touvet et al (2012). We then solved the inverse kinematics throughout the whole motion so that the fingertips drive the object.…”

Section: Dynamic Manipulation For a Robot Handmentioning

confidence: 99%

Using a motion capture system to identify pertinent design parameters of a bio-inspired mechanical hand

Rojas-Quintero

Seguin

Gazeau

et al. 2013

Computer Methods in Biomechanics and Biomedical Engineering

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A real-time strategy for dexterous manipulation: Fingertips motion planning, force sensing and grasp stability

Cited by 28 publications

References 15 publications

Model-based strategy for grasping3Ddeformable objects using a multi-fingered robotic hand

Model-based strategy for grasping3Ddeformable objects using a multi-fingered robotic hand

A New Dexterous Hand Based on Bio-Inspired Finger Design for Inside-Hand Manipulation

Using a motion capture system to identify pertinent design parameters of a bio-inspired mechanical hand

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