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Communication Dans Un Congrès Année : 2016

ALPHA: A hybrid self-adaptable hand for a social humanoid robot

Résumé

This paper presents a novel design of a compact and lightweight robotic hand for a social humanoid robot. The proposed system is able to perform common hand gestures and self-adaptable grasps by mixing under-actuated and self-adaptable hand kinematics in a unique design. The hand answers the need for precise finger postures and sensor-less force feedback during gestures and for finger adaptation and autonomous force distribution during grasps. These are provided by a dual actuation system embodied within the palm and the fingers. Coexistence is ensured by compliant transmissions based on elastomer bars rather than classical tension springs, thanks to their high elastic coefficient at reduced sizes and strains. The proposed solution significantly reduces the weight and the size of the hand by using a reduced number of small actuators for gesturing and a single motor for grasping. The hand prototype (ALPHA) is realized to confirm the design feasibility and functional capabilities. It is controlled to provide safe human-robot interaction and preserve mechanical integrity in order to be embodied on a humanoid robot.
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Dates et versions

hal-01361054 , version 1 (06-09-2016)

Identifiants

  • HAL Id : hal-01361054 , version 1

Citer

Giulio Cerruti, Damien Chablat, David Gouaillier, Sophie Sakka. ALPHA: A hybrid self-adaptable hand for a social humanoid robot. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2016, IEEE, Oct 2016, Daejeon, South Korea. ⟨hal-01361054⟩
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