An integrated approach for the design and development of a grasping and manipulation system in humanoid robotics
نویسندگان
چکیده
The field of humanoids robotics is widely recognized as the current challenge for robotics research. Developing humanoids poses fascinating problems in the realization of manipulation capability, which is still one of most complex problem in robotics. The paper, starting from an overview of current activities in the development of humanoid robots, with special focus on manipulation, presents the authors' approach to the design and development of anthropomorphic sensorized hands and of anthropomorphic control and sensory-motor coordination schemes. Current achievements at the Scuola Superiore Sant'Anna and Centro INAIL RTR (Research Centre on Rehabili tation Bioengineering) in the development of a robotic human prosthesis are described, together with preliminary experimental results, as well as in the implementation of biologically-inspired schemes for control and sensory-motor co-ordination, derived from models of well-identified human brain areas.
منابع مشابه
Flexible Foot/Ankle Based on PKM with Force/Torque Sensor for Humanoid Robot
This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...
متن کاملGrasping and Manipulation in Humanoid Robotics
Humanoid robotics is attracting the interest of many research groups world-wide. In particular, developing humanoids requires the implementation of manipulation capabilities, which is still a most complex problem in robotics. This paper presents an overview of current activities in the development of humanoid robots, with special focus on manipulation. Then we discuss our current approach to th...
متن کاملManipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach
Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...
متن کاملModifying a Conventional Grasping Control Approach for Undesired Slippage Control in Cooperating Manipulator Systems
There have been many researches on object grasping in cooperating systems assuming no object slippage and stable grasp and the control system is designed to keep the contact force inside the friction cone to prevent the slippage. However undesired slippage can occur due to environmental conditions and many other reasons. In this research, dynamic analysis and control synthesis of a cooperating ...
متن کاملMechatronic Hand Design with Integrated Mechanism in Palm for Efficiency Improve of the Finger.
One of the most important case in humanoid robot designing is hand, which it consider as an country development. High percentage of robot work quality depend on hand capability. A robot function increase with hand movement. One of important movement in artificial hand capability relate to fingers lateral movement. This case has more effect intake of special objects such as round shape or moving...
متن کامل