Design of robotic hands and grippers for underwater manipulation tasks Claudio Melchiorri DEI – Department of Electrical, Electronic and Information Engineering University of Bologna, Italy

ISME January 11, 2016

Summary l  Hands

l  UAV

for underwater applications

(Sherpa)

Robot Hands L'Ateneo, in attuazione degli articoli 3 e 34 della Costituzione della Repubblica Italiana, si adopera affinché il pieno esercizio del diritto allo studio non sia impedito da ostacoli di ordine economico e sociale e affinché l'impegno e il merito siano costantemente riconosciuti e premiati. Statuto di Ateneo, Principi di indirizzo, Art. 2 comma 1

L.A.R. - Group Expertise l  The research group in robotics is active since the early 80’s, with interdisciplinary competencies (automatic control, mechanics, hw/sw design, computer science, motion control) l  About 35-40 researchers (staff, post-doc, PhD students) l  Several robotic prototypes have been designed and realized: grippers, articulated hands, mobile robots, serial/parallel manipulators, telemanipulation systems, haptic devices, biomedical robots, UAVs, sensors, actuators, hw/sw control systems, …

4

Robot Hands UB Robotic Hands/Grippers: Designed for a number of applications Some of them are reference in the research community

UB Hands: a short history •  1986-1990: UBH 1

UB Hands: a short history •  1986-1990: UBH 1 •  1992-1995: UBH 2

UB Hands: a short history •  1986-1990: UBH 1 •  1992-1995: UBH 2

UB Hands: a short history •  1986-1990: UBH 1 •  1992-1995: UBH 2 •  1998-2000: ASI Gripper

UB Hands: a short history •  •  •  • 

1986-1990: UBH 1 1992-1995: UBH 2 1998-2000: ASI Gripper 2002-2005: UBH 3

UB Hands: a short history •  •  •  •  • 

1986-1990: UBH 1 1992-1995: UBH 2 1998-2000: ASI Gripper 2002-2005: UBH 3 2008-2012: UBH 4 (Dexmart)

UBH4: sensors All the sensors are based on the same technology: optoelectronics

Position sensors

Force (tension) sensors

Tactile sensors In cooperation with SUN – Seconda Università di Napoli (C. Natale, S. Pirozzi, G. De Maria)

UB Hands: a short history •  •  •  •  •  • 

1986-1990: UBH 1 1992-1995: UBH 2 1998-2000: ASI Gripper 2002-2005: UBH 3 2008-2012: UBH 4 2010-2012: TRIDENT Gripper

Tactile sensors Tactile sensors Each sensor: 1 dof 3 sensors for each fingertip Based on on optoelectronic components: low power •  low noise •  simplified electronics •  simple installation • 

LED

Photodetector

UB Hands: a short history •  •  •  •  •  •  • 

1986-1990: UBH 1 1992-1995: UBH 2 1998-2000: ASI Gripper 2002-2005: UBH 3 2008-2012: UBH 4 2010-2012: TRIDENT 2013-2014: MARIS 1

UB Hands: a short history •  •  •  •  •  •  •  • 

1986-1990: UBH 1 1992-1995: UBH 2 1998-2000: ASI Gripper 2002-2005: UBH 3 2008-2012: UBH 4 2010-2012: TRIDENT 2013-2014: MARIS 1 2014-2015: MARIS 2

UB Hands: a short history •  •  •  •  •  •  •  • 

1986-1990: UBH 1 1992-1995: UBH 2 1998-2000: ASI Gripper 2002-2005: UBH 3 2008-2012: UBH 4 2010-2012: TRIDENT 2013-2014: MARIS 1 2014-2015: MARIS 2

Co RS

Fl

linear motor 1

Connettore object

sensor

Base

6-axis F/T sensor: •  fingertip •  wrist linear motor 2

load ce

UB Hands: a short history •  •  •  •  •  •  •  •  • 

1986-1990: UBH 1 1992-1995: UBH 2 1998-2000: ASI Gripper 2002-2005: UBH 3 2008-2012: UBH 4 2010-2012: TRIDENT 2013-2014: MARIS 1 2014-2015: MARIS 2 2015- … : DexGrip

UB Hands: a short history •  •  •  •  •  •  •  •  • 

1986-1990: UBH 1 1992-1995: UBH 2 1998-2000: ASI Gripper 2002-2005: UBH 3 2008-2012: UBH 4 2010-2012: TRIDENT 2013-2014: MARIS 1 2014-2015: MARIS 2 2015- … : DexGrip

Control aspects (Low-level) control challenges are generated by the following aspects: •  Structural compliance •  •  •  • 

Soft pads Compliant joints Tendons Actuation systems

•  Friction •  • 

Joints Tendon path

•  Actuation/Transmission system •  •  • 

Nonlinear motion/force transmission system Tendon net (N+1) Actuation/Joint/Workspace mapping

Other control aspects Control challenges: •  Contact point modelling (friction, …) •  Grasp configuration (e,g. optimization of contact positions) •  Manipulation •  Hand/Arm coordination •  Interaction with human beings •  …

Other control aspects

In cooperation with UNINA – F. Ficuciello, B. Siciliano

Hand/Arm coordination

Sherpa - Logo A01 Here is a circular logo elaborated from the Kantipur (Sherpa language) transliteration of the letter “s”: By rotating it, you can see the silouhette of a mountain emerging under blue skyes.

www.sherpa-project.eu

s

SHERPA SHERPA in Short

Search and rescue in unfriendly and possibly hostile environments, like the ones in which civil protection, alpine rescuers and forest guards usually operate

Features: •  Unstructured environments •  Severe operative conditions (weather, terrain,..) •  Presence of human (rescuer) often “focused” on demanding tasks •  Team (Human & Machine) capabilities •  Emotional aspects

The SHERPA animals Patrolling  hawks  

Busy  Genius  

Trained  wasps  

Intelligent  donkey  

The SHERPA wasp

Ulisse        (Rai  3)  

Other  Aerial  ConfiguraAons  

Esacopter Dimensions MTOW Installed Power Motors Propellers Climb rate Lateral speed Rate of turn Max altitude Operating range Temperature range Payload: Max wind speed

900 x 900 mm 6 kg 2100 W BCM450 15 x 4 6 m/s 15 m/s 60 deg/s 13000 ft 1000 m -10 ÷ 35 °C up to 2 Kg 30 kts

ApplicaAon:  3D  reconstrucAon