Affiliation: | aDepartment of Computer Science, Institute for Process Control and Robotics (IPR), University of Karlsruhe, Engler-Bunte-Ring 8, 76131 Karlsruhe, Germany bForschungszentrum Karlsruhe GmbH, Institute for Applied Computer Science (IAI), P.O. Box 3640, 76021 Karlsruhe, Germany |
Abstract: | This article presents the approaches taken to integrate a novel anthropomorphic robot hand into a humanoid robot. The requisites enabling such a robot hand to use everyday objects in an environment built for humans are presented. Starting from a design that resembles the human hand regarding size and movability of the mechatronical system, a low-level control system is shown providing reliable and stable controllers for single joint angles and torques, entire fingers and several coordinated fingers. Further on, the high-level control system connecting the low-level control system with the rest of the humanoid robot is presented. It provides grasp skills to the superior robot control system, coordinates movements of hand and arm and determines grasp patterns, depending on the object to grasp and the task to execute. Finally some preliminary results of the system, which is currently tested in simulations, will be presented. |