Design and actuation of humanoid hands for natural grasping

Since the first prototype robot “WABOT-1” was created in 1973, how to build humanoid robots has been becoming an active research topic in the robotics area. Hands are one of the most articulated parts of humanoid robots. Natural grasping is a target that most humanoid robotic hands are pursuing. Whi...

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Main Author: Tian, Li
Other Authors: Zheng Jianmin
Format: Thesis-Doctor of Philosophy
Language:English
Published: Nanyang Technological University 2022
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Online Access:https://hdl.handle.net/10356/155534
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1555342022-04-04T03:16:52Z Design and actuation of humanoid hands for natural grasping Tian, Li Zheng Jianmin School of Computer Science and Engineering ASJMZheng@ntu.edu.sg Engineering::Computer science and engineering Since the first prototype robot “WABOT-1” was created in 1973, how to build humanoid robots has been becoming an active research topic in the robotics area. Hands are one of the most articulated parts of humanoid robots. Natural grasping is a target that most humanoid robotic hands are pursuing. While a lot of research was done in the last 30 years for the simulation of human grasping, existing solutions for robotic hands to simulate the natural grasping of a human hand are still not satisfactory. For instance, it is observed that robotic hands are apparently different from human hands when moving or grasping due to the lack of kinematic ability and suitable motion plan. This thesis describes our research of designing robotic hands for social robots and enabling the robotic hands to function as human hands. The research is divided into four fundamental tasks: (i) designing visually pleasant customized robotic hands, (ii) equipping robotic hands with a human-like actuation mechanism, (iii) developing path planning method to simulate human hand grasping, and (iv) mimicking the complex in-hand manipulations. Doctor of Philosophy 2022-03-03T00:14:20Z 2022-03-03T00:14:20Z 2021 Thesis-Doctor of Philosophy Tian, L. (2021). Design and actuation of humanoid hands for natural grasping. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/155534 https://hdl.handle.net/10356/155534 10.32657/10356/155534 en This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0). application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Computer science and engineering
spellingShingle Engineering::Computer science and engineering
Tian, Li
Design and actuation of humanoid hands for natural grasping
description Since the first prototype robot “WABOT-1” was created in 1973, how to build humanoid robots has been becoming an active research topic in the robotics area. Hands are one of the most articulated parts of humanoid robots. Natural grasping is a target that most humanoid robotic hands are pursuing. While a lot of research was done in the last 30 years for the simulation of human grasping, existing solutions for robotic hands to simulate the natural grasping of a human hand are still not satisfactory. For instance, it is observed that robotic hands are apparently different from human hands when moving or grasping due to the lack of kinematic ability and suitable motion plan. This thesis describes our research of designing robotic hands for social robots and enabling the robotic hands to function as human hands. The research is divided into four fundamental tasks: (i) designing visually pleasant customized robotic hands, (ii) equipping robotic hands with a human-like actuation mechanism, (iii) developing path planning method to simulate human hand grasping, and (iv) mimicking the complex in-hand manipulations.
author2 Zheng Jianmin
author_facet Zheng Jianmin
Tian, Li
format Thesis-Doctor of Philosophy
author Tian, Li
author_sort Tian, Li
title Design and actuation of humanoid hands for natural grasping
title_short Design and actuation of humanoid hands for natural grasping
title_full Design and actuation of humanoid hands for natural grasping
title_fullStr Design and actuation of humanoid hands for natural grasping
title_full_unstemmed Design and actuation of humanoid hands for natural grasping
title_sort design and actuation of humanoid hands for natural grasping
publisher Nanyang Technological University
publishDate 2022
url https://hdl.handle.net/10356/155534
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