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Hand Design for a Humanoid Robot

Design of a Compliant and Force Sensing Hand for a Humanoid Robot Aaron Edsinger-Gonzales MIT Computer Science and Artificial Intelligence Laboratory Humanoid Robotics Group, Prof. Rodney Brooks edsinger@csail.mit.edu. Hand Design for a Humanoid Robot. Hand Design for a Humanoid. Motivation

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Hand Design for a Humanoid Robot

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  1. Design of a Compliant and Force Sensing Hand for a Humanoid RobotAaron Edsinger-GonzalesMIT Computer Science and Artificial Intelligence LaboratoryHumanoid Robotics Group, Prof. Rodney Brooksedsinger@csail.mit.edu

  2. Hand Design for a Humanoid Robot

  3. Hand Design for a Humanoid • Motivation • Humanoid Platform • Design Description • Force Sensing Compliant Actuator • Control Architecture

  4. Hand Design for a Humanoid • Motivations: • Unknown environments • Modest dexterity • Modest tactile sensing • Force Sensing • Compliance • Robustness • Constraints: • Size • Weight • Form-Factor • Wrist and Arm design

  5. Hand Design for a Humanoid Practical concern: Robust, functional hands are often not realized in practice for many humanoids. Do we need full human dexterity to understand basic manipulation problems such as visuo-motor integration and preshaping of grasp? Can we find a balance between complexity and utility?

  6. DomoA research platform fordexterous manipulation Cardea Mobile Manipulation Platform

  7. Domo Specification • 2 6 DOF force sensing Arms • 2 4 DOF force sensing Hands • 9 DOF Active Vision Head • 29 DOF Total • 51 Proprioceptive/Force Sensors • 24 Tactile Sensors • 2 Firewire CCD Cameras

  8. Domo Research Direction • Long timescale manipulation experiments • Unknown environments • Two armed manipulation • A Creature Based approach to learning in manipulation contexts General need for a robust, always-on, humanoid platform!

  9. Back to the hands…

  10. Hand Specification • 4 Force Sensing Compliant Actuators • 3 Fingers each with: • 1 active force controlled DOF • 1 mechanically coupled DOF • 1 passively compliant DOF • 3 FSR tactile sensors • 1 DOF for spread between 2 fingers • Mechanically coupled • Force controlled • Angular and force sensors for each active DOF • Embedded interface electronics • Modular Design

  11. Hand Schematic

  12. Dexterity • Kinematics modeled after the Barrett Hand • A modest variety of grasps • Traded complexity of more humanoid form for robustness, compactness • Provides a functional tool to explore perceptual-motor coordination for preshaping and grasping problems

  13. Force Sensing Compliant Actuator • Springs filter high bandwidth shocks • Springs provide force sensing • Springs provide passive compliance • Very compact packaging • Mechanically simple and robust • Can be difficult to assemble

  14. FSC and SEA Actuators

  15. Series Elastic Actuator • Used in Domo’s Arms • Linear and Rotary configurations • Limited travel • Small packaging difficult

  16. Force Sensing Compliant Actuator dF=2k*dtheta

  17. Mechanical Details

  18. Hand Specification

  19. Hand Controller • Motorola DSP 56F807 • 4 2.8A H-Bridges • Sensor signal filters • 2.8”x1.5”x.85”

  20. Hand Controller

  21. Domo Architecture

  22. Preliminary Videos

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