Design of an Underactuated Robotic End-Effector With a Focus on Power Tool Manipulation

Rouleau, Michael; Hong, Dennis

doi:10.1115/detc2014-35513

Cited by 11 publications

(6 citation statements)

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“…Over the course of our preparation for the DRC trials, we iterated over multiple gripper designs, and the final design incorporated two active fingers controlled by small Dynamixel MX-106R servomotors and a passive palm at the other side. Each finger has a passive joint with a spring-loaded linkage mechanism [5] to allow the finger to conform to a varied range of objects including drills, hoses and wooden blocks [6]. Each hand, like the one shown in Figure 5, weighs 767 grams.…”

Section: B End Effectormentioning

confidence: 99%

Modular low-cost humanoid platform for disaster response

McGill

Vadakedathu

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Developing a reliable humanoid robot that operates in uncharted real-world environments is a huge challenge for both hardware and software. Commensurate with the technology hurdles, the amount of time and money required can also be prohibitive barriers. This paper describes Team THOR's approach to overcoming such barriers for the 2013 DARPA Robotics Challenge (DRC) Trials. We focused on forming modular components -in both hardware and software -to allow for efficient and cost effective parallel development. The robotic hardware consists of standardized and general purpose actuators and structural components. These allowed us to successfully build the robot from scratch in a very short development period, modify configurations easily and perform quick field repair. Our modular software framework consists of a hybrid locomotion controller, a hierarchical arm controller and a platform-independent operator interface. These modules helped us to keep up with hardware changes easily and to have multiple control options to suit various situations. We validated our approach at the DRC Trials where we fared very well against robots many times more expensive.

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Section: B End Effectormentioning

confidence: 99%

Modular low-cost humanoid platform for disaster response

McGill

Vadakedathu

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The THOR arms consisted of commercial off‐the‐shelf ROBOTIS Dynamixel Pro motors arranged in a 7‐DOF configuration and outfitted with custom 2‐DOF underactuated grippers (Rouleau & Hong, ), resulting in a 2 m arm span. Each 6.6 kg arm possessed a limited payload capacity of approximately 3 kg (Robotnik, ), lacked direct joint torque sensing, and exhibited reliability issues.…”

Section: Escher Platform Architecturementioning

confidence: 99%

Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge

Knabe

Griffin

Burton

et al. 2017

Journal of Field Robotics

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The Electric Series Compliant Humanoid for Emergency Response (ESCHER) platform represents the culmination of four years of development at Virginia Tech to produce a full‐sized force‐controlled humanoid robot capable of operating in unstructured environments. ESCHER's locomotion capability was demonstrated at the DARPA Robotics Challenge (DRC) Finals when it successfully navigated the 61 m loose dirt course. Team VALOR, a Track A team, developed ESCHER leveraging and improving upon bipedal humanoid technologies implemented in previous research efforts, specifically for traversing uneven terrain and sustained untethered operation. This paper presents the hardware platform, software, and control systems developed to field ESCHER at the DRC Finals. ESCHER's unique features include custom linear series elastic actuators in both single and dual actuator configurations and a whole‐body control framework supporting compliant locomotion across variable and shifting terrain. A high‐level software system designed using the robot operating system integrated various open‐source packages and interfaced with the existing whole‐body motion controller. The paper discusses a detailed analysis of challenges encountered during the competition, along with lessons learned that are critical for transitioning research contributions to a fielded robot. Empirical data collected before, during, and after the DRC Finals validate ESCHER's performance in fielded environments.

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“…The other end‐effector has passive joints with a spring‐loaded linkage, as shown in Figure (b). This end‐effector can wrap the object in its fingers, although there is one actuator in the end‐effector (Rouleau, ; Rouleau & Hong, ). However, these end‐effectors do not allow precise grasping to turn on the drill.…”

Section: System Architecture Overviewmentioning

confidence: 99%

Team SNU's Control Strategies for Enhancing a Robot's Capability: Lessons from the 2015 DARPA Robotics Challenge Finals

Kim

Lee

et al. 2016

Journal of Field Robotics

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This paper presents the technical approaches used and experimental results obtained by Team SNU (Seoul National University) at the 2015 DARPA Robotics Challenge (DRC) Finals. Team SNU is one of the newly qualified teams, unlike 12 teams who previously participated in the December 2013 DRC Trials. The hardware platform THORMANG, which we used, has been developed by ROBOTIS. THORMANG is one of the smallest robots at the DRC Finals. Based on this platform, we focused on developing software architecture and controllers in order to perform complex tasks in disaster response situations and modifying hardware modules to maximize manipulability. Ensuring stability and modularization are two main keywords in the technical approaches of the architecture. We designed our interface and controllers to achieve a higher robustness level against disaster situations. Moreover, we concentrated on developing our software architecture by integrating a number of modules to eliminate software system complexity and programming errors. With these efforts on the hardware and software, we successfully finished the competition without falling, and we ranked 12th out of 23 teams. This paper is concluded with a number of lessons learned by analyzing the 2015 DRC Finals.

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Design of an Underactuated Robotic End-Effector With a Focus on Power Tool Manipulation

Cited by 11 publications

References 0 publications

Modular low-cost humanoid platform for disaster response

Modular low-cost humanoid platform for disaster response

Team VALOR's ESCHER: A Novel Electromechanical Biped for the DARPA Robotics Challenge

Team SNU's Control Strategies for Enhancing a Robot's Capability: Lessons from the 2015 DARPA Robotics Challenge Finals

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