High-Power, Flexible, Robust Hand: Development of Musculoskeletal Hand Using Machined Springs and Realization of Self-Weight Supporting Motion with Humanoid
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2024
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866911813521637376 |
|---|---|
| author | Makino, Shogo Kawaharazuka, Kento Kawamura, Masaya Asano, Yuki Okada, Kei Inaba, Masayuki |
| author_facet | Makino, Shogo Kawaharazuka, Kento Kawamura, Masaya Asano, Yuki Okada, Kei Inaba, Masayuki |
| contents | Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to manipulate objects because their hands are too weak to support their body. Strong hands are supposed to enable humanoid robots to act in much broader scene. Therefore, we developed new life-size five-fingered hand that can support the body of life-size humanoid robot. It is tendon-driven and underactuated hand and actuators in forearms produce large gripping force. This hand has flexible joints using machined springs, which can be designed integrally with the attachment. Thus, it has both structural strength and impact resistance in spite of small size. As other characteristics, this hand has force sensors to measure external force and the fingers can be flexed along objects though the number of actuators to flex fingers is less than that of fingers. We installed the developed hand on musculoskeletal humanoid "Kengoro" and achieved two self-weight supporting motions: push-up motion and dangling motion. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_17459 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | High-Power, Flexible, Robust Hand: Development of Musculoskeletal Hand Using Machined Springs and Realization of Self-Weight Supporting Motion with Humanoid Makino, Shogo Kawaharazuka, Kento Kawamura, Masaya Asano, Yuki Okada, Kei Inaba, Masayuki Robotics Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to manipulate objects because their hands are too weak to support their body. Strong hands are supposed to enable humanoid robots to act in much broader scene. Therefore, we developed new life-size five-fingered hand that can support the body of life-size humanoid robot. It is tendon-driven and underactuated hand and actuators in forearms produce large gripping force. This hand has flexible joints using machined springs, which can be designed integrally with the attachment. Thus, it has both structural strength and impact resistance in spite of small size. As other characteristics, this hand has force sensors to measure external force and the fingers can be flexed along objects though the number of actuators to flex fingers is less than that of fingers. We installed the developed hand on musculoskeletal humanoid "Kengoro" and achieved two self-weight supporting motions: push-up motion and dangling motion. |
| title | High-Power, Flexible, Robust Hand: Development of Musculoskeletal Hand Using Machined Springs and Realization of Self-Weight Supporting Motion with Humanoid |
| topic | Robotics |
| url | https://arxiv.org/abs/2403.17459 |