Abstract
In this study, we propose an effective design method for the phalangeal parameters and the total size of humanoid robot fingers based on a biomimetic optimization. For the optimization, an interphalangeal joint coordination parameter and the length constraints inherent in human fingers are considered from a biomimetic perspective. A reasonable grasp formulation is also taken into account from the viewpoint of power grasping, where the grasp space of a humanoid robot finger is importantly considered to determine the phalangeal length parameters. The usefulness of the devised biomimetic optimization method is shown through the design examples of various humanoid robot fingers. In fact, the optimization-based finger design method enables us to determine effectively the proper phalangeal size of humanoid robot fingers for human-like object handling tasks. In addition, we discuss its contribution to the structural configuration and coordinated motion of a humanoid robot finger, and address its practical availability in terms of effective finger design.
Highlights
It is well-known that a dexterous multi-fingered robot hand is essential for humanoid robots to perform various object handling tasks in many areas, such as dangerous and precise industries, hospitals and the home [1,2,3,4]
The objective of this study is to provide a biomimetic optimization method for us to determine effectively the phalangeal length parameters of a humanoid robot finger
The main contribution of this study is that the phalangeal parameters and the total size of a humanoid robot finger can be effectively determined by the proposed BOSHRF algorithm
Summary
It is well-known that a dexterous multi-fingered robot hand is essential for humanoid robots to perform various object handling tasks in many areas, such as dangerous and precise industries, hospitals and the home [1,2,3,4]. The mechanical capability of a hand strongly influences the work performance of humanoid robots. Effective manipulation skills are important for hand mechanisms. It is very interesting to consider useful skills of human hands for such dexterous robotic applications and prosthetic tasks in terms of biomimetics [11,12,13]. In this sense, it is especially valuable to utilize the joint motion behaviours of human fingers for effective human-like motions [14, 15]
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