Hostname: page-component-848d4c4894-nmvwc Total loading time: 0 Render date: 2024-06-20T23:46:18.416Z Has data issue: false hasContentIssue false
  • English
  • Français

Study of grasp-energy based optimal distribution of contact forces on a humanoid robotic hand during object grasp

Published online by Cambridge University Press:  06 September 2021

Sourajit Mukherjee Open the ORCID record for Sourajit Mukherjee [Opens in a new window] ,
Abhijit Mahapatra Open the ORCID record for Abhijit Mahapatra [Opens in a new window] ,
Amit Kumar  and
Avik Chatterjee
Sourajit Mukherjee
Affiliation:
Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India
Abhijit Mahapatra*
Affiliation:
Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India
Amit Kumar
Affiliation:
Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India
Avik Chatterjee
Affiliation:
Advanced Design and Analysis Group, CSIR-Central Mechanical Engineering Research Institute, Durgapur 713209, India
*
*Corresponding author. E-mail: abhi.mahapatra@gmail.com
Get access Rights & Permissions [Opens in a new window]

Abstract

A novel grasp optimization algorithm for minimizing the net energy utilized by a five-fingered humanoid robotic hand with twenty degrees of freedom for securing a precise grasp is presented in this study. The algorithm utilizes a compliant contact model with a nonlinear spring and damper system to compute the performance measure, called ‘Grasp Energy’. The measure, subject to constraints, has been minimized to obtain locally optimal cartesian trajectories for securing a grasp. A case study is taken to compare the analytical (applying the optimization algorithm) and the simulated data in MSC.Adams $^{^{\circledR}}$ , to prove the efficacy of the proposed formulation.

Keywords

humanoid robotic handgrasp-energyoptimal force distributioncompliant contactdynamic modeling
Type
Research Article
Information
Robotica , Volume 40 , Issue 5 , May 2022 , pp. 1501 - 1526
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Gardner, E. P., Babu, K. S., Reitzen, S. D., Ghosh, S., Brown, A. S., Chen, J., Hall, A. L., Herzlinger, M. D., Kohlenstein, J. B. and Ro, J. Y., “Neurophysiology of Prehension. I. Posterior Parietal Cortex and Object-Oriented Hand Behaviors,” J. Neurophysiol. 97(1), 387–406 (2007).CrossRefGoogle ScholarPubMed
Zhang, B., Xie, Y., Zhou, J., Wang, K. and Zhang, Z., “State-of-the-Art Robotic Grippers, Grasping and Control Strategies, as Well as Their Applications in Agricultural Robots: A Review,” Comput. Electron. Agric. 177(July) (2020).CrossRefGoogle Scholar
Marhefka, D. W. and Orin, D. E., “A Compliant Contact Model with Nonlinear Damping for Simulation of Robotic Systems,” IEEE Trans. Syst. Man, Cybern. - Part A Syst. Humans 29(6), 566–572 (1999).CrossRefGoogle Scholar
Fan-Tien, Cheng and Orin, D. E., “Optimal Force Distribution in Multiple-Chain Robotic Systems,” IEEE Trans. Syst. Man. Cybern. 21(1), 13–24 (1991).CrossRefGoogle Scholar
Ki, Suh and Hollerbach, J., “Local versus Global Torque Optimization of Redundant Manipulators,” Proceedings. 1987 IEEE International Conference on Robotics and Automation (1987) pp. 619–624.Google Scholar
Kang, H.-J. and Freeman, R. A., “Joint Torque Optimization of Redundant Manipulators via the Null Space Damping Method,” Proceedings 1992 IEEE International Conference on Robotics and Automation (2003) pp. 520–525.Google Scholar
Hollerbach, J. and Ki, Suh, “Redundancy Resolution of Manipulators through Torque Optimization,” IEEE J. Robot. Autom. 3(4), 308–316 (1987).CrossRefGoogle Scholar
Dubey, R. V., Euler, J. A. and Babcock, S. M., “An Efficient Gradient Projection Optimization Scheme for a Seven-Degree-of-Freedom Redundant Robot with Spherical Wrist,” Proceedings. 1988 IEEE International Conference on Robotics and Automation (2003) pp. 28–36.Google Scholar
Tsai, K. Y. and Kohli, D., “Trajectory Planning in Task Space for General Manipulators,” J. Mech. Des. Trans. ASME 115(4), 915–921 (1993).CrossRefGoogle Scholar
Gorce, P., Villard, C. and Fontaine, J. G., “Grasping, Coordination and Optimal Force Distribution in Multifingered Mechanisms,” Robotica 12(3), 243–251 (1994).CrossRefGoogle Scholar
Bakhy, S. H., “Modeling of Contact Pressure Distribution and Friction Limit Surfaces for Soft Fingers in Robotic Grasping,” Robotica 32(7), 1005–1015 (2014).CrossRefGoogle Scholar
Jeong, D., Jo, I. and Bae, J., “Analysis on the Force Distribution of Various Grasps for the Design of a Hand Exoskeleton,” 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2014 (2014) pp. 127–131.Google Scholar
Jo, I. and Bae, J., “Design and Control of a Wearable and Force-Controllable Hand Exoskeleton System,” Mechatronics 41, 90–101 (2017).CrossRefGoogle Scholar
Kang, H.-J., “Stable Joint Torque Optimization for Multiple Cooperating Redundant Manipulator System,” KSME J. 9(1), 102 (1995).CrossRefGoogle Scholar
Zhang, Y., Ge, S. S. and Lee, T. H., “A Unified Quadratic-Programming-Based Dynamical System Approach to Joint Torque Optimization of Physically Constrained Redundant Manipulators,” IEEE Trans. Syst. Man Cybern. Part B 34(5), 2126–2132 (2004).CrossRefGoogle ScholarPubMed
Klein, C. A. and Kittivatcharapong, S., “Optimal Force Distribution for the Legs of a Walking Machine with Friction Cone Constraints,” IEEE Trans. Robot. Autom. 6(1), 73–85 (1990).CrossRefGoogle Scholar
Buss, M., Hashimoto, H. and Moore, J. B., “Dextrous Hand Grasping Force Optimization,” IEEE Trans. Robot. Autom. 12(3), 406–418 (1996).CrossRefGoogle Scholar
Dai, J. S. and Kerr, D. R., “Analysis of Force Distribution in Grasps Using Augmentation,” Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 210(1), 15–22 (1996).CrossRefGoogle Scholar
Suhaib, M., Khan, R. A. and Mukherjee, S., “Contact Force Optimization for Stable Grasp of Multifingire Robotic Grippers,” Proceedings of the World Congress on Engineering 2011, WCE 2011 (2011) pp. 2194–2197.Google Scholar
Jia, P., li Li, W., Wang, G. and Li, S. Y., “Optimal Grasp Planning for a Dexterous Robotic Hand Using the Volume of a Generalized Force Ellipsoid during Accepted Flattening,” Int. J. Adv. Robot. Syst. 14(1) (2017).CrossRefGoogle Scholar
Yong Yu, K. Takeuchi, and T. Yoshikawa, “Optimization of Robot Hand Power Grasps,” Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) (1998) pp. 3341–3347.Google Scholar
Horowitz, M. B. and Burdick, J. W., “Combined Grasp and Manipulation Planning as a Trajectory Optimization Problem,” 2012 IEEE International Conference on Robotics and Automation (2012) pp. 584–591.Google Scholar
Dong, H., Asadi, E., Qiu, C., Dai, J. and Chen, I. M., “Grasp Analysis and Optimal Design of Robotic Fingertip for Two Tendon-Driven Fingers,” Mech. Mach. Theory 130, 447–462 (2018).CrossRefGoogle Scholar
Fan, Y. and Tomizuka, M., “Efficient Grasp Planning and Execution With Multifingered Hands by Surface Fitting,” IEEE Robot. Autom. Lett. 4(4), 3995–4002 (2019).CrossRefGoogle Scholar
Müller, A., Aydemir, M., Glodde, A. and Dietrich, F., “Design Approach for Heavy-Duty Soft-Robotic-Gripper,” Procedia CIRP 91, 301–305 (2020).CrossRefGoogle Scholar
Kim, D., Li, A. and Lee, J., “Stable Robotic Grasping of Multiple Objects Using Deep Neural Networks,” Robotica 39(4), 735–748 (2021).CrossRefGoogle Scholar
Pertuz, S. A., Llanos, C. H. and Munoz, D. M., “Development of a Robotic Hand Using Bioinspired Optimization for Mechanical and Control Design: UnB-Hand,” IEEE Access 9(1), 61010–61023 (2021).CrossRefGoogle Scholar
Elangovan, N., Gerez, L., Gao, G. and Liarokapis, M., “Improving Robotic Manipulation Without Sacrificing Grasping Efficiency: A Multi-Modal, Adaptive Gripper With Reconfigurable Finger Bases,” IEEE Access 9, 83298–83308 (2021).CrossRefGoogle Scholar
Aceituno-Cabezas, B., Ballester, J. and Rodriguez, A., “Certified Grasping,” arXiv preprint, arXiv:1909.03985 (2019).Google Scholar
Yan, W., Deng, Z., Chen, J., Nie, H. and Zhang, J., “Precision Grasp Planning for Multi-Finger Hand to Grasp Unknown Objects,” Robotica 37(08), 1415–1437 (2019).CrossRefGoogle Scholar
Singh, T. and Ambike, S., “A Soft-Contact and Wrench Based Approach to Study Grasp Planning and Execution,” J. Biomech. 48(14), 3961–3967 (2015).CrossRefGoogle ScholarPubMed
Dong, H., Qiu, C., Prasad, D. K., Pan, Y., Dai, J. and Chen, I.-M., “Enabling Grasp Action: Generalized Quality Evaluation of Grasp Stability via Contact Stiffness from Contact Mechanics Insight,” Mech. Mach. Theory 134, 625–644 (2019).CrossRefGoogle Scholar
Mirza, K. and Grin, D. E., “General Formulation for Force Distribution in Power Grasp,” Proceedings of the 1994 IEEE International Conference on Robotics and Automation (2002) pp. 880–887.Google Scholar
Yoshikawa, T., Watanabe, T. and Daito, M., “Optimization of Power Grasps for Multiple Objects,” Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) (2001) pp. 1786–1791.Google Scholar
Neha, E., Suhaib, M. and Mukherjee, S., “Grasp Force Analysis of Four-Finger Tendon Actuated Robotic Hand,” Proceedings of the Advances in Robotics 2019 (2019) pp. 1–5.Google Scholar
Yao, S., Ceccarelli, M., Carbone, G. and Dong, Z., “Grasp Configuration Planning for a Low-Cost and Easy-Operation Underactuated Three-Fingered Robot Hand,” Mech. Mach. Theory 129, 51–69 (2018).CrossRefGoogle Scholar
Schmitt, F., Piccin, O., Barbé, L. and Bayle, B., “Soft Robots Manufacturing: A Review,” Front. Robot. AI 5(JUN), 84 (2018).CrossRefGoogle ScholarPubMed
Kapandji, I., “The Physiology of the Joints. Volume 2,” Postgrad. Med. J. 51(599), 682 (1975).Google Scholar
Cobos, S., Ferre, M., Sanchez Uran, M. A., Ortego, J. and Pena, C., “Efficient Human Hand Kinematics for Manipulation Tasks,” 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (2008) pp. 2246–2251.Google Scholar
Spong, M. W., Hutchinson, S. and Vidyasagar, M., Robot Modeling and Control (Wiley, 2005).Google Scholar
Buchholz, B. and Armstrong, T. J., “An Ellipsoidal Representation of Human Hand Anthropometry,” Hum. Factors J. Hum. Factors Ergon. Soc. 33(4), 429–441 (1991).CrossRefGoogle ScholarPubMed
Buchholz, B., Armstrong, T. J. and Goldstein, S. A., “Anthropometric Data for Describing the Kinematics of the Human Hand,” Ergonomics 35(3), 261–273 (1992).CrossRefGoogle ScholarPubMed
Winter, D. A., Biomechanics and Motor Control of Human Movement (John Wiley Sons Inc., Waterloo, Canada, 2009).CrossRefGoogle Scholar
Xu, W., Mu, Z., Liu, T. and Liang, B., “A Modified Modal Method for Solving the Mission-Oriented Inverse Kinematics of Hyper-Redundant Space Manipulators for on-Orbit Servicing,” Acta Astronaut. 139, 54–66 (2017).CrossRefGoogle Scholar
Ren, L., Mills, J. K. and Sun, D., “Adaptive Synchronization Control of a Planar Parallel Manipulator,” Proceedings of the 2004 American Control Conference (2004) pp. 3980–3985 vol.5.Google Scholar
Ram, R. V., Pathak, P. M. and Junco, S. J., “Inverse Kinematics of Mobile Manipulator Using Bidirectional Particle Swarm Optimization by Manipulator Decoupling,” Mech. Mach. Theory 131, 385–405 (2019).CrossRefGoogle Scholar
Roy, G., Mukherjee, S., Das, T. and Bhaumik, S., “Single Support Phase Gait Kinematics and Kinetics for a Humanoid Lower Limb Exoskeleton,” 2020 IEEE Region 10 Symposium (TENSYMP) (2020) pp. 138–141.Google Scholar
Feix, T., Romero, J., Schmiedmayer, H. B., Dollar, A. M. and Kragic, D., “The GRASP Taxonomy of Human Grasp Types,” IEEE Trans. Human-Machine Syst. 46(1), 66–77 (2016).CrossRefGoogle Scholar
Mukherjee, S. and Mahapatra, A., “Compliant Contact Modeling of a Humanoid Robotic Thumb for Assisting Grasp,” 2019 IEEE International Conference on Intelligent Systems and Green Technology (ICISGT) (2019) pp. 94–98.Google Scholar
Hunt, K. H. and Crossley, F. R. E., “Coefficient of Restitution Interpreted as Damping in Vibroimpact,” J. Appl. Mech. 42(2), 440 (1975).CrossRefGoogle Scholar
Johnson, K. L., Contact Mechanics (Cambridge University Press, Cambridge, 1985).CrossRefGoogle Scholar
Craig, J. J., Introduction to Robotics (Pearson Education International, 2005).Google Scholar
Svinin, M., Ueda, K. and Kaneko, M., “On the Liapunov Stability of Multi-Finger Grasps,” Robotica 18(1), 59–70 (2000).CrossRefGoogle Scholar
Xiong, Y. L., Sanger, D. J. and Kerr, D. R., “Geometric Modelling of Bounded and Frictional Grasps,” Robotica 11(2), 185–192 (1993).CrossRefGoogle Scholar
Buss, S. R., “Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares Methods,” IEEE J. Robot. Autom. 17(16), 1–19 (2004).Google Scholar
Siciliano, B., Sciavicco, L., Villani, L. and Oriolo, G., Robotics (Springer London, London, 2009).CrossRefGoogle Scholar
Esposito, D., Savino, S., Cosenza, C., Andreozzi, E., Gargiulo, G. D., Polley, C., Cesarelli, G., D’Addio, G. and Bifulco, P., “Evaluation of Grip Force and Energy Efficiency of the ‘Federica’ Hand,” Machines 9(2), 25 (2021).CrossRefGoogle Scholar