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Liu B, Jiang L, Fan S. Reducing Anthropomorphic Hand Degrees of Actuation with Grasp-Function-Dependent and Joint-Element-Sparse Hand Synergies. INT J HUM ROBOT 2022. [DOI: 10.1142/s0219843621500171] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
In this paper, a set of grasp-function-dependent and joint-element-sparse hand synergies was proposed. First, hand synergies were extracted from five basic categories of movements by principal component analysis (PCA). Then, varimax rotation was applied on these synergies, so each sparse synergy only represented a limited number of joints. Next, according to the contribution to these sparse synergies, finger joints were clustered into different joint modules. Finally, integrating the joint modules in different categories of hand movements, the minimum number of actuators and joint synergic modules for anthropomorphic hands were determined. The results showed that using 5 groups of joint modules and 7–9 actuators we can achieve the best performance of grasp function and motion flexibility. Furthermore, through the reasonable design of adaptive and hyperextension functional joint modules, anthropomorphic hands can better meet the requirements of different tasks like power grasping and precision pinching. Comparing with traditional finger-based actuation strategy, the joint coupling scheme achieved better anthropomorphic performance and larger workspace. These above findings will benefit the development of mechanical structure design and control method of anthropomorphic hands.
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Affiliation(s)
- Bingchen Liu
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin 150001, P. R. China
| | - Li Jiang
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin 150001, P. R. China
| | - Shaowei Fan
- State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin 150001, P. R. China
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Kashyap AK, Parhi DR, Kumar S. Dynamic Stabilization of NAO Humanoid Robot Based on Whole-Body Control with Simulated Annealing. INT J HUM ROBOT 2020. [DOI: 10.1142/s0219843620500140] [Citation(s) in RCA: 20] [Impact Index Per Article: 5.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/18/2022]
Abstract
The prime challenge in a humanoid robot is its stability on two feet due to the presence of an underactuated system. In this paper, the complete dynamics of the humanoid robot has been described in essence of torque calculation at the end effectors. Presence of various restraints in humanoid robot motion makes the task of stabilization an even humongous one. Therefore, to neutralize these constraints, whole-body control (WBC) has been proposed to consider the free-floating base and to ensure the stability of the humanoid robot. Dynamic modeling of the humanoid robot is performed based on the Langrage–Euler formalism to obtain the maximum torque at the joints. This approach is utilized to formulate the torque equation and solve the problem of stabilization. WBC deals with the limitation of attainment of well nimble dynamics behavior operated at high speeds. The simulated annealing approach is preferred to tune WBC to get efficient stabilization and eliminate the earlier limitation. In addition, the zero-moment point (ZMP) criterion is taken care of as it affects the stability of the humanoid robot aggressively. Simulations on V-REP are carried out to understand the torque behavior at each joint. To validate the simulation results, the experiments are carried out on the NAO humanoid robot in real experimental conditions. The experimental and simulation results are compared through torque versus time graphs, and they both show good agreement with deviation under 4% between them. The proposed technique is then compared with various previously implemented techniques which confirm the robustness and efficiency of the proposed methodology.
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Affiliation(s)
- Abhishek Kumar Kashyap
- Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela 769008, Odisha, India
| | - Dayal R Parhi
- Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela 769008, Odisha, India
| | - Saroj Kumar
- Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology, Rourkela 769008, Odisha, India
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