Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger

Wonseok Jeon; Kyungchan Son; Jaegak Lee; Hyemi Jeong; Hyunseok Yang

doi:10.1109/ROBIO.2018.8664889

Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger

Wonseok Jeon, Kyungchan Son, Jaegak Lee, Hyemi Jeong, Hyunseok Yang

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

In this paper, we describe the design and optimal control strategy of an under-actuated, anthropomorphic robotic finger. A compliance element (silicon rubber skin) and series elastic actuators are incorporated in the design to reduce the number of actuators, and for robotic finger control. Manufacturing of the robotic finger is further simplified by the basic joint design and a 3D printing technique. The proposed metacarpophalangeal (MCP) joint structure allows flexion-extension and adduction-abduction motions of the robotic finger to be controlled easily and independently. However, due to the under-actuated system, and joint stiffness caused by the compliance element, the design is limited by inverse kinematics issues, preventing some of the desired joint angles from being achieved. We analyzed this problem and proposed an optimal control strategy to address this issue. Our experimental results showed that good performance of the optimal control strategy of the under-actuated anthropomorphic robotic finger prototype.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	39-44
Number of pages	6
ISBN (Electronic)	9781728103761
DOIs	https://doi.org/10.1109/ROBIO.2018.8664889
Publication status	Published - 2018 Jul 2
Event	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 - Kuala Lumpur, Malaysia Duration: 2018 Dec 12 → 2018 Dec 15

Publication series

Name	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

Conference

Conference	2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018
Country/Territory	Malaysia
City	Kuala Lumpur
Period	18/12/12 → 18/12/15

Bibliographical note

Funding Information:
*This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2018R1D1A1B07049267). This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government(MSIT) (2018R1A4A1025986) and the Technology Innovation Program (10073129, Development of driving and manipulation intelligence based on deep learning and inverse reinforcement learning for dual arm mobile robot) funded By the Ministry of Trade, Industry & Energy(MOTIE, Korea) †Corresponding author 1Department of Mechanical Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. {wsjeonno, skc0313, jaegak, stree104, hsyang}@yonsei.ac.kr 2Center for Information Storage Devices (CISD), Yonsei University, Seodaemun-gu, Seoul 03722, Korea.

Publisher Copyright:
© 2018 IEEE.

All Science Journal Classification (ASJC) codes

Biotechnology
Artificial Intelligence
Human-Computer Interaction

Access to Document

10.1109/ROBIO.2018.8664889

Cite this

Jeon, W., Son, K., Lee, J., Jeong, H., & Yang, H. (2018). Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 (pp. 39-44). [8664889] (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2018.8664889

Jeon, Wonseok ; Son, Kyungchan ; Lee, Jaegak et al. / Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 39-44 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

@inproceedings{107b30f3b03543d295c331a8505e1af2,

title = "Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger",

abstract = "In this paper, we describe the design and optimal control strategy of an under-actuated, anthropomorphic robotic finger. A compliance element (silicon rubber skin) and series elastic actuators are incorporated in the design to reduce the number of actuators, and for robotic finger control. Manufacturing of the robotic finger is further simplified by the basic joint design and a 3D printing technique. The proposed metacarpophalangeal (MCP) joint structure allows flexion-extension and adduction-abduction motions of the robotic finger to be controlled easily and independently. However, due to the under-actuated system, and joint stiffness caused by the compliance element, the design is limited by inverse kinematics issues, preventing some of the desired joint angles from being achieved. We analyzed this problem and proposed an optimal control strategy to address this issue. Our experimental results showed that good performance of the optimal control strategy of the under-actuated anthropomorphic robotic finger prototype.",

author = "Wonseok Jeon and Kyungchan Son and Jaegak Lee and Hyemi Jeong and Hyunseok Yang",

note = "Funding Information: *This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2018R1D1A1B07049267). This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government(MSIT) (2018R1A4A1025986) and the Technology Innovation Program (10073129, Development of driving and manipulation intelligence based on deep learning and inverse reinforcement learning for dual arm mobile robot) funded By the Ministry of Trade, Industry & Energy(MOTIE, Korea) †Corresponding author 1Department of Mechanical Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. {wsjeonno, skc0313, jaegak, stree104, hsyang}@yonsei.ac.kr 2Center for Information Storage Devices (CISD), Yonsei University, Seodaemun-gu, Seoul 03722, Korea. Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018 ; Conference date: 12-12-2018 Through 15-12-2018",

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Jeon, W, Son, K, Lee, J, Jeong, H & Yang, H 2018, Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. in 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018., 8664889, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Institute of Electrical and Electronics Engineers Inc., pp. 39-44, 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018, Kuala Lumpur, Malaysia, 18/12/12. https://doi.org/10.1109/ROBIO.2018.8664889

Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. / Jeon, Wonseok; Son, Kyungchan; Lee, Jaegak et al.
2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 39-44 8664889 (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Jeong, Hyemi

AU - Yang, Hyunseok

N1 - Funding Information: *This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2018R1D1A1B07049267). This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government(MSIT) (2018R1A4A1025986) and the Technology Innovation Program (10073129, Development of driving and manipulation intelligence based on deep learning and inverse reinforcement learning for dual arm mobile robot) funded By the Ministry of Trade, Industry & Energy(MOTIE, Korea) †Corresponding author 1Department of Mechanical Engineering, Yonsei University, Seodaemun-gu, Seoul 03722, Korea. {wsjeonno, skc0313, jaegak, stree104, hsyang}@yonsei.ac.kr 2Center for Information Storage Devices (CISD), Yonsei University, Seodaemun-gu, Seoul 03722, Korea. Publisher Copyright: © 2018 IEEE.

PY - 2018/7/2

Y1 - 2018/7/2

N2 - In this paper, we describe the design and optimal control strategy of an under-actuated, anthropomorphic robotic finger. A compliance element (silicon rubber skin) and series elastic actuators are incorporated in the design to reduce the number of actuators, and for robotic finger control. Manufacturing of the robotic finger is further simplified by the basic joint design and a 3D printing technique. The proposed metacarpophalangeal (MCP) joint structure allows flexion-extension and adduction-abduction motions of the robotic finger to be controlled easily and independently. However, due to the under-actuated system, and joint stiffness caused by the compliance element, the design is limited by inverse kinematics issues, preventing some of the desired joint angles from being achieved. We analyzed this problem and proposed an optimal control strategy to address this issue. Our experimental results showed that good performance of the optimal control strategy of the under-actuated anthropomorphic robotic finger prototype.

AB - In this paper, we describe the design and optimal control strategy of an under-actuated, anthropomorphic robotic finger. A compliance element (silicon rubber skin) and series elastic actuators are incorporated in the design to reduce the number of actuators, and for robotic finger control. Manufacturing of the robotic finger is further simplified by the basic joint design and a 3D printing technique. The proposed metacarpophalangeal (MCP) joint structure allows flexion-extension and adduction-abduction motions of the robotic finger to be controlled easily and independently. However, due to the under-actuated system, and joint stiffness caused by the compliance element, the design is limited by inverse kinematics issues, preventing some of the desired joint angles from being achieved. We analyzed this problem and proposed an optimal control strategy to address this issue. Our experimental results showed that good performance of the optimal control strategy of the under-actuated anthropomorphic robotic finger prototype.

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M3 - Conference contribution

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T3 - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

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BT - 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018

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Jeon W, Son K, Lee J, Jeong H, Yang H. Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger. In 2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 39-44. 8664889. (2018 IEEE International Conference on Robotics and Biomimetics, ROBIO 2018). doi: 10.1109/ROBIO.2018.8664889

Design, Modeling and Optimal Control Strategy for an Under-Actuated Anthropomorphic Robotic Finger

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