Planning and control system for an anthropomorphic grippers

Abstract-A new incremental self-organizing map, called State Trajectory Generator (STRAGEN) is employed to plan state trajectory of a robot. STRAGEN can deal with different criteria to construct topological maps of the problem space, choosing neighbors that match these criteria and optimize different measures of the learned map. STRAGEN can also learn heterogeneous information, such as angles, torques and positions of a manipulator, preserving their characteristics. This algorithm was tested generating trajectories for a new robotic hand called Kanguera. The hand offers a suitable environment for experimental purposes due to its novel and more accurate transmission system. The implementation of adduction and abduction capacity for both the fingers and the thumb allows the execution of more complex movements. Simulations and experiments related to Kanguera hardware are also presented.

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“…This material is lighter than the aluminum versions used in the first [16] and second [17] hand/gripper generation.…”

Section: B Mechanical Designmentioning

confidence: 99%

A self-organizing state trajectory planner applied to an anthropomorphic robot hand

Benante

Pedro

Massaro

et al. 2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Tokyo-TECH 100 N Hand : Three-fingered eight-DOF hand with a force-magnification mechanism

Takayama

Chiba

Omata

2009

2009 IEEE International Conference on Robotics and Automation

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This paper presents Tokyo-TECH 100 N Hand, a three-fingered eight-degree of freedom hand that can generate a large grasp force of 100N. All fingers are 90 mm in length and the weight of the hand is 941 g. The hand can generate a large grasp force with a force-magnification mechanism whereas all joints can perform a high speed motion of over 200 deg/s with a high-speed driving mechanism. The high-speed driving mechanism consists of a feed screw and nut with a low reduction ratio. We propose a simple and small three-dimensional toggle mechanism for the force-magnification mechanism. The toggle mechanism thrusts the feed screw and nut of the high-speed driving mechanism when the finger is in contact with an object. It can maintain a large grasp force without energy consumption. We experimentally verify the force and speed performances.

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Planning and control system for an anthropomorphic grippers

Cited by 2 publications

References 9 publications

A self-organizing state trajectory planner applied to an anthropomorphic robot hand

A self-organizing state trajectory planner applied to an anthropomorphic robot hand

Tokyo-TECH 100 N Hand : Three-fingered eight-DOF hand with a force-magnification mechanism

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