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A Humanoid Robot Upper Limb System with Anthropomorphic Robot Hand: GCUA Hand II

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Social Robotics (ICSR 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6414))

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Abstract

Gesture-changeable under-actuated (GCUA) function is presented to make robot hand grasp objects dexterously and achieve humanoid manipulations with low dependence on control system. Based on GUCA function, GCUA Hand II is developed, which has 5 fingers and 14 DOFs. All the fingers use similar tendon mechanisms to achieve GCUA function which includes traditional under-actuated (UA) grasping motion and special pre-bending (PB) motion. With GCUA Hand II, a humanoid robot upper limb system is developed, which has two 3-DOF arms actuated by stepper motors and two 14-DOF hands actuated by DC motors. The control system includes four parts: computer, motion controller based on FPGA, driver module, and user module, which can control the upper limb system to do various movements dexterously and exactly. The control system and spatial motion program are designed. This system has a great prospect in the field of robotics and rehabilitation engineering.

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Author information

Authors and Affiliations

  1. Key Laboratory for Advanced Materials Processing Technology, Ministry of Education, Dept. of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Demeng Che & Wenzeng Zhang

Authors
  1. Demeng Che
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  2. Wenzeng Zhang
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Editor information

Editors and Affiliations

  1. Social Robotics Lab, Interactive Digital Media Institute, and Edutainment Robotics Lab Department of Electrical and Computer Engineering, National University of Singapore, 117576, Singapore

    Shuzhi Sam Ge

  2. Institute for Infocomm Research, 21 Heng Mui Keng Terrace, 119613, Singapore

    Haizhou Li

  3. National University of Singapore, Singapore

    John-John Cabibihan

  4. Institute for Infocomm Research, Agency for Science, Technology and Research (A*Star),, 1 Fusionopolis Way, #08-05, Connexis (South Tower), Singapore

    Yeow Kee Tan

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© 2010 Springer-Verlag Berlin Heidelberg

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Che, D., Zhang, W. (2010). A Humanoid Robot Upper Limb System with Anthropomorphic Robot Hand: GCUA Hand II. In: Ge, S.S., Li, H., Cabibihan, JJ., Tan, Y.K. (eds) Social Robotics. ICSR 2010. Lecture Notes in Computer Science(), vol 6414. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-17248-9_19

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  • DOI: https://doi.org/10.1007/978-3-642-17248-9_19

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-17247-2

  • Online ISBN: 978-3-642-17248-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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