Hydraulic master–slave land mine clearance robot hand controlled by pulse modulation

Wojtara, Tytus; Nonami, Kenzo; Shao, Hui; Yuasa, Ryohei; Amano, Satoko; Waterman, Daniel; Nobumoto, Yasukazu

doi:10.1016/j.mechatronics.2004.09.007

Cited by 17 publications

(10 citation statements)

References 8 publications

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“…In this study, the three stepping motors are driven for only one rotation direction, and the stepping motors were driven by two-phase excitation method as shown in Fig.4. From Fig.4, the exciting currents of the A-phase and B-phase are written as follows: 1 : , 3 : , 4 : ,…”

Section: Equations Of Motion Of Robot Hand Driven By Stepping Motorsmentioning

confidence: 99%

“…Then, many studies on robot hands have been carried out. For example, the studies about a robot hand using shape-memory metal (2) , a master-slave robot hand using hydraulic actuator (3) , a five-finger-type robot hand using ultrasonic motor and elastic element (4) have been reported. As for the actuators used for these robot hands, direct current motors, shape-memory alloys, hydraulic actuators, and ultrasonic motors and so on are chiefly used.…”

Section: Introductionmentioning

confidence: 99%

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Grasp Force Feedback Control of Robot Hand Using Stepping Motors, Gears and Plate Springs

Kojima

Han

2008

JSDD

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In this paper, a grasp force feedback control method of a robot hand attached to a single-link robot arm is proposed, and the usefulness of the grasp force feedback control method is confirmed theoretically and experimentally. The robot hand consists of two permanent-magnet-type stepping motors, reduction gears and plate springs. In the design of the grasp force feedback control system, the start-stop performance without missing steps concerning stepping motors is effectively utilized. For the shock reduction of the robot hand mechanism using stepping motors, the stepping motors should be stopped at a lower pulse rate. Therefore, the grasp force feedback control system is designed to finish the grasp force feedback control at a lower pulse rate of the stepping motors. For this purpose, the control method of the stepping motors using the angular velocity pattern of trapezoidal shape with a constant-velocity time and an estimated finish-time determined by the grasp force feedback control is devised. Then, numerical simulations using the equations of motion of the robot and the grasp force feedback control law have been carried out, and it is ascertained theoretically that the grasping force can be precisely controlled by the present grasp force feedback control method. Furthermore, experiments have been carried out, and the excellent performance of the grasp force feedback control is confirmed experimentally.

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Section: Equations Of Motion Of Robot Hand Driven By Stepping Motorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Grasp Force Feedback Control of Robot Hand Using Stepping Motors, Gears and Plate Springs

Kojima

Han

2008

JSDD

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“…A multi-fingered hand (1)(2)(3)(4) has the dexterity to achieve complicated tasks with many fingers and joints. However, the planning of its movement is problematic due to many degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

“…Tsujiuchi et al (3) utilize a data glove to control a pneumatic hand. Wojtaraa et al (4) utilize a data glove to measure each joint angle of the human hand and a device to convey the feedback of exerted forces. In some systems, the posture of the human hand is estimated by processing images taken by cameras.…”

Section: Introductionmentioning

confidence: 99%

Acquisition of Hand Information Using an Omni-directional Device

Honda

Hamauchi²

2014

Proceedings of the 2nd International Conference on Intelligent Systems and Image Processing 2014

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In this paper, we propose a user interface for object manipulation with a multi-fingered robot hand. In order to achieve object manipulation, the user needs to tell the robot about task information such as desired contact points between the manipulated object and robotic fingers. Our teaching-by-showing system can measure the user's hand and its surroundings using an omni-directional camera and laser modules, while the camera which the user holds with several fingertips is regarded as a virtual object for object manipulation. The human hand is in contact with the cylindrical surface of the omni-directional camera so that our system can obtain the desired contact points for object manipulation by processing the camera image and using a support vector machine. The experimental results show the system can recognize which fingertip contacts the camera surface and can measure the contact positions of the fingertips.

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“…It is more difficult to detect and remove these mines especially if they exist in unstructured environments or if they are close to crop fields. According to the United Nation statistics, more than 100 million landmines exist in the ground in more than 60 countries causing 10,000 deaths and 20,000 injuries annually [1]. The mine clearance cost is greater than the budget of poor countries that suffer from mines.…”

Section: Introductionmentioning

confidence: 99%

Autonomous navigation robot for landmine detection applications

Jaradat

Bani-Salim

Awad

2012

2012 8th International Symposium on Mechatronics and Its Applications

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Modern robotic technologies have provided efficient solutions to protect workers from hazards in the work environments; such as radioactive, toxic, or explosive. This paper presents a design of a holonomic mobile robot for rough terrain that can replace the human role in the demining applications. A suspension system based on the bogie mechanism was adopted in order to overcome rough terrains. The flexible design of the robot enables it to move in any direction at any instant without changing the orientation of the body. The motion of the robot was simulated using the Pro-Engineer software and the robot stability margins for different road conditions were found in order to predict the possibility of tipping-over before any maneuver.

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Hydraulic master–slave land mine clearance robot hand controlled by pulse modulation

Cited by 17 publications

References 8 publications

Grasp Force Feedback Control of Robot Hand Using Stepping Motors, Gears and Plate Springs

Grasp Force Feedback Control of Robot Hand Using Stepping Motors, Gears and Plate Springs

Acquisition of Hand Information Using an Omni-directional Device

Autonomous navigation robot for landmine detection applications

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