Reactive hand-arm coordination for a humanoid robot using extended petri-nets

Abstract

This paper provides a new approach for the temporal coordination of a humanoid robot, in particular the coordination of hand and arm movements. Our approach uses Petri-nets extended by callback and trigger functions to describe the identified features of coordinated movements. The Petri-net is not only used for modelling but also for the implementationit describes and executes coordinated movements. It keeps the distinct control systems simple and manageable while still providing a broad variety of possible tasks. It furthermore allows the exchange of sensor information between independent control systems and thus allows the system to react on sensor feedback.

Opening a door with a humanoid robot using multi-sensory tactile feedback

“…The arm is moving with comparatively high velocity and the hand moves to pregrasp configuration which is given by the grasp start point and the gripper orientation provided by the grasp planning component. These four phases stem from the concept of synchronization and coordination of arm-hand movements as detailed in [22], [23].…”

Design and Simulation of Five-Fingered Hand with Linkage Mechanism

“…All five fingers are identical, and each finger has three DOFs and four joints [3]. The Karlsruhe Dexterous Hand II is built with four fingers and three independent joints per finger [4].…”