인간형 로봇 손 시스템과 실시간 파지 동작 제어에 관한 연구
- Title
- 인간형 로봇 손 시스템과 실시간 파지 동작 제어에 관한 연구
- Other Titles
- A Study on Humanoid Robot Hand System and Real-Time Grasp Motion Control
- Author
- 이병주
- Keywords
- humanoid robot hand; grasp planning; real-time grasp synthesis; hand control
- Issue Date
- 2000-06
- Publisher
- 제어로봇시스템공학회
- Citation
- 제어로봇시스템학회 논문지, v. 6, no. 5, page.404-414
- Abstract
- This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01978855?https://repository.hanyang.ac.kr/handle/20.500.11754/161680
- ISSN
- 1976-5622; 2233-4335
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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