Approaching Human Performance: The Functionality-Driven Awiwi Robot Hand PDF
Preview Approaching Human Performance: The Functionality-Driven Awiwi Robot Hand
Springer Tracts in Advanced Robotics 98 Markus Grebenstein Approaching Human Performance The Functionality-Driven Awiwi Robot Hand Springer Tracts in Advanced Robotics 98 Editors Prof.BrunoSiciliano Prof.OussamaKhatib DipartimentodiIngegneriaElettrica ArtificialIntelligenceLaboratory eTecnologiedell’Informazione DepartmentofComputerScience UniversitàdegliStudidiNapoli StanfordUniversity FedericoII Stanford,CA94305-9010 ViaClaudio21,80125Napoli USA Italy E-mail:[email protected] E-mail:[email protected] Forfurthervolumes: http://www.springer.com/series/5208 EditorialAdvisoryBoard OliverBrock,TUBerlin,Germany HermanBruyninckx,KULeuven,Belgium RajaChatila,ISIR-UPMC&CNRS,France HenrikChristensen,GeorgiaTech,USA PeterCorke,QueenslandUniv.Technology,Australia PaoloDario,ScuolaS.AnnaPisa,Italy RüdigerDillmann,Univ.Karlsruhe,Germany KenGoldberg,UCBerkeley,USA JohnHollerbach,Univ.Utah,USA MakotoKaneko,OsakaUniv.,Japan LydiaKavraki,RiceUniv.,USA VijayKumar,Univ.Pennsylvania,USA SukhanLee,SungkyunkwanUniv.,Korea FrankPark,SeoulNationalUniv.,Korea TimSalcudean,Univ.BritishColumbia,Canada RolandSiegwart,ETHZurich,Switzerland GauravSukhatme,Univ.SouthernCalifornia,USA SebastianThrun,StanfordUniv.,USA YangshengXu,ChineseUniv.HongKong,PRC Shin’ichiYuta,TsukubaUniv.,Japan N SunTdAeRrth(SeparuisnpgiecresTorafcEtUs RinONAd(vEaunrcoepdeaRnoRboobtioctsi)cshRaessebaerecnhpNreotmwootrekd) RERuersoOepaeracBnhROO************TICS NetworkU E Markus Grebenstein Approaching Human Performance The Functionality-Driven Awiwi Robot Hand ABC Dr.MarkusGrebenstein DepartmentofMechatronicComponentsandSystems InstituteofRoboticsandMechatronics GermanAerospaceCentere.V.(DLR) MünchnerStraße20 82234Weßling Germany E-mail:[email protected] ISSN1610-7438 ISSN1610-742X (electronic) ISBN 978-3-319-03592-5 ISBN978-3-319-03593-2 (eBook) DOI10.1007/978-3-319-03593-2 SpringerChamHeidelbergNewYorkDordrechtLondon LibraryofCongressControlNumber:2013955019 (cid:2)c SpringerInternationalPublishingSwitzerland2014 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped.Exemptedfromthislegalreservationarebriefexcerptsinconnection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. 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Printedonacid-freepaper SpringerispartofSpringerScience+BusinessMedia(www.springer.com) Dedicated to My Beloved Sons Hannes and Otto Foreword Roboticsisundergoingamajortransformationinscopeanddimension.From alargelydominantindustrialfocus,roboticsisrapidlyexpandingintohuman environmentsandvigorouslyengagedinits newchallenges.Interactingwith, assisting, serving, and exploring with humans, the emerging robots will in- creasingly touch people and their lives. Beyondits impact onphysical robots, the body ofknowledge roboticshas produced is revealing a much wider range of applications reaching across di- verseresearchareasandscientific disciplines, suchas: biomechanics,haptics, neurosciences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are prov- ing an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The Springer Tracts in Advanced Robotics (STAR) is devoted to bringing totheresearchcommunitythelatestadvancesintheroboticsfieldontheba- sisoftheirsignificanceandquality.Throughawideandtimelydissemination of critical researchdevelopments in robotics, our objective with this series is to promote more exchanges and collaborations among the researchers in the community and contribute to further advancements in this rapidly growing field. The monographby Markus Grebenstein is based on the author’s doctoral thesis on robot hand development and variable impedance robots. An inno- vative approachis pursuedto designof anthropomorphichand-armsystems. Robustness, fast dynamics and grasping performance of the so-called Awiwi Handprototypeareanalysedindetailandexperimentallytestedinanumber of meaningful case studies. The proposed methodology is expected to shed new light towards the realisation of a new generation of humanoid robots assisting humans in a safe and dependable manner for the execution of daily functions. VIII Foreword The second contribution to the series on design of robot hands, a big research challenge in our community, this volume constitutes a very fine addition to STAR! Naples, Italy Bruno Siciliano October 2013 STAR Editor I Abstract Humanoid robotics have achieved a remarkable state in recent years. Nowadayshumanoidscanwalkstairs,servecoffee,throwandcatchballsand interact with human beings. However,most of these demonstrations and ap- plicationstakeplaceinwellknownenvironmentsoreveninsurroundingsthat have been adapted to the robots capabilities and needs. However, in order to assist the human in every day tasks, the robot has to operate in (par- tially)unknownenvironmentsinmostcases.Intheseunknownenvironments and in interaction with moving obstacles as well as human beings, collision avoidanceisvaguenotion.Consequently,this bookhypothesizesthattheop- erationofhumanoidrobotsoutside ofenvironmentsdedicatedtooperatethe robots implies that robots have to be able to complete tasks even in case of collision. This especially applies to robot hands, since they are the most exposed and fragile part of a humanoid robot. Humanoid robots have to be anthropomorphic in sense of providing not only human-like appearance but also human characteristics. In particular they have to provide: • Robustness against impacts • Fast dynamics • Human-like grasping and manipulation performance To achieve this robustness and fast dynamics, from the author’s point of view, a paradigm change has to be done Future robots have to be able to store energy as suggested by T. Morita [115]. In this book the anthropomorphic Awiwi Hand is developed, which pro- vides human-like robustness and dynamics as well as grasping performance. Toachievethesecharacteristics,thehumananatomyaswellasexistingrobot hands are analyzed. The goal of this analysis is to derive the functionalities neededtoachieverealanthropomorphismratherthantoblindlycopythehu- man being. These abstractfunctionalities are then implemented to a robotic X I Abstract hand. The achieved anthropomorphic characteristics of the Awiwi Hand are demonstrated in several experiments. The Awiwi Hand is able to withstand the impact of a 500g hammer at high velocity without any damage. It can still keep objects firmly grasped even when struck by an 750g object at a speed of approximately 4m/s. The energy stored in the elastic elements of its antagonistic drive train allows the fingers of the hand to achieve a max- imum finger speed of approximately 3500◦/s which is more than five times the speed provided by the drives alone. The Awiwi Hand is, to the author’s knowledge, the first robot hand able to perform all grasps of M. Cutkosky’s grasp taxonomy [25]. The robustness, fast dynamics and grasping performance of the Awiwi Hand is thought to enable future humanoid robots to operate in “field robotics” rather than in laboratories built for the robots. It will speed up the development of robotic applications since developers will no longer have to bother to avoid possibly costly collisions of the robot. Methods such as reinforcement learning, which need failed task execution attempts to suc- ceed, canbe usedwithout fears of severelydamagingthe robot. The method underlying this development is not limited to robot hands. The proposed methodology will help realize a new generationof humanoid robots that can assist the human being even in harsh environments without damage and for example might fall over without damage. They will hopefully accommodate thedemandofthehumansocietyforrobotassistantsthatiswelldocumented by the public interest in humanoid robotics. Keywords: Robot hand, Design, Anthropomorphism, Functional abstrac- tion, Antagonism, Robustness, Fast dynamics, Compliant actuation, Humanoid.
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