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Complex manipulation with a simple robotic hand through contact breaking and caging.

Walter G Bircher¹, Andrew S Morgan², Aaron M Dollar²

¹Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT, USA. walter.bircher@yale.edu.

Science Robotics

|May 27, 2021

Summary

This summary is machine-generated.

Researchers designed a novel robotic hand, Model W, inspired by human dexterity. This whole-hand manipulation system enables complex grasps and continuous object reorientation, advancing robotic capabilities.

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Area of Science:

Robotics
Mechanical Engineering
Human-Robot Interaction

Background:

Human hands excel at contact-rich manipulation using all surfaces.
Current robot hands often limited to fingertip use, restricting dexterity.
Traditional robotic manipulation relies on contact wrench modeling.

Purpose of the Study:

To design a dexterous robotic manipulator using a potential energy-based whole-hand manipulation model.
To develop a metric for evaluating robotic hand designs inspired by human manipulation.
To create a two-fingered robot hand capable of advanced manipulation skills.

Main Methods:

Simulated planar finger topologies with open kinematic chains (up to three joints).
Developed a potential energy-based whole-hand manipulation model, avoiding traditional wrench modeling.
Utilized a novel metric, inspired by robotic caging grasps and human dexterity, for design evaluation.

Main Results:

Designed and presented the Model W, an unconventional two-fingered dexterous robot hand.
Model W demonstrated continuous object reorientation capabilities.
The hand successfully alternated between power and pinch grasps, achieving contact-rich skills.

Conclusions:

The Model W's design, based on a potential energy model, enhances robotic manipulation dexterity.
The hand's topology mimics human thumb-index finger movements, offering a foundation for general-purpose robot hands.
This approach overcomes limitations of traditional robotic hand designs and opens new avenues for dexterous robotics.