Evaluation and Design for Joint Configurations Based on Kinematic Analysis

운동학에 기초한 로봇 손가락의 관절구조 평가 및 설계

  • 황창순 (한국과학기술연구원 지능로봇연구센터)
  • Published : 2005.02.01


This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.


Robotic Finger;Fingertip Surface Manipulation;Inverse Kinematics;Finger Joint Configuration;Manipulation Workspace


  1. Montana, D.J., 1995, 'The Kinematics of Multi-fingered Manipulation,' IEEE Trans. Robot. Automat., Vol. 11, No.4, pp. 491-503
  2. Cherif, M. and Gupta, KK, 2001, 'Global Planning for Dexterous Reorientation of Rigid Objects: Finger Tracking with Rolling and Sliding,' Int. J. Robot. Res., Vol. 20, No.1, pp.57-84
  3. Kiss, B., Levine, J. and Lantos, B., 2002, 'On Motion Planning for Robotic Manipulation with Permanent Rolling Contacts,' Int. J. Robot. Res., Vol. 21, No. 5-6, pp. 443-461
  4. Jia, Y.-B. and Erdmann, M., 1999, 'Pose and Motion from Contact,' Int. J. Robot. Res., Vol. 18, No.5, pp. 466-490
  5. Cherif, M. and Gupta, KK, 1999, 'Planning Quasi-static Fingertip Manipulations for Reconfiguring Objects,' IEEE Trans. Robot. Automat., Vol. 15, No.5, pp. 837-848
  6. Zheng, X.-Z., Nakashima, R. and Yoshikawa, T., 2000, 'On Dynamic Control of Finger Sliding and Object Motion in Manipulation with Multifingered Hands,' IEEE Trans. Robot. Automat., Vol. 16, No.5, pp. 469-481
  7. Arimoto, S., Yoshida, M., Bae, J.-H. and Tahara, K., 2003, 'Dynamic Force/torque Balance of 2D Polygonal Objects by a Pair of Rolling Contacts and Sensory-motor Coordination,' J. Robotic Systems, Vol. 20, No. 9, pp. 517-537
  8. Hirzinger, G., Brunner, B., Landzettel, K., Sporer, N., ButterfaB, J. and Schedl, M., 2003, 'Space Robotics-DLR's Telerobotic Concepts, Lightweight Arms and Articulated Hands,' Autonomous Robots, Vol. 14, No. 2-3, pp, 127-145
  9. Carrozza, M.C., Daria, P., Vecchi, F., Roccella, S., Zecca, M. and Sebastiani, F., 2003, 'The CyberHand: on the Design of a Cybernetic Prosthetic Hand Intended to be Interfaced to the Peripheral Nervous System,' Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp.2642-2647
  10. Xydas, N. and Kao., I., 1999, 'Modeling of Contact Mechanics and Friction Limit Surfaces for Soft Fingers in Robotics, with Experimental Results,' Int. J. Robot. Res., Vol. 18, No.8, pp.941-950
  11. Erkmen, I., Erkmen, A.M. and Giinver, H., 2000, 'Robot Hand Preshaping and Regrasping Using Genetic Algorithms,' Int. J. Robot. Res., Vol. 19, No.9, pp.857-874
  12. Nagashima, T., Seki, H. and Takano, lV1., 1997, 'Analysis and Simulation of Grasping/manipulation by Multi-fingersurface,' Mech. Mach. Theory, Vol. 32, No.2, pp. 175-191
  13. Takahashi, H., Takano, M., Sasaki, K. and Seki, H., 1996, 'Grasping/manipulation of an Object with Any Shape by Multifingersurfaces,' Proc. of 2nd ECPD Int. Conf. Advanced Robot., Intelligent Automat. and Active Syst., pp.498-503
  14. Hwang, C.-S., 2005, 'Kinematics of Grasping and Manipulation of Curved Surface Object with Robotic Hand,' Trans. Korean Society of Mechanical Engineers A, Vol. 29, No.1, pp.1-13
  15. Salisbury, J.K. and Craig, J.J., 1982, 'Articulated Hands: Force Control and Kinematic Issues,' Int. J. Robot. Res., Vol. 1, No.1, pp.4-17
  16. Bicchi, A. and Marigo, A., 2002, 'Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation,' Int. J. Robot. Res., Vol. 21, No. 5-6, pp. 427-442
  17. Harada, K., Kawashima, T. and Kaneko, M.,2002, 'Rolling Based Manipulation under Neighborhood Equilibrium,' Int. J. Robot. Res., Vol. 21, No. 5-6, pp. 463-474
  18. Kerr, J. and Roth, B., 1985, 'Analysis of Multifingered Hands,' Int. J. Robot. Res., Vol.4, No.4, pp. 3-17
  19. Wang, L.-C.T. and Hsieh, J.-H., 1998, 'Extreme Reaches and Reachable Workspace Analysis of General Parallel Robotic Manipulators,' J. Robotic Systems, Vol. 15, No.3, pp.145-159<145::AID-ROB3>3.0.CO;2-Q
  20. Michelman, P., 1998, 'Precision Object Manipulation with a Multifingered Robot Hand,' IEEE Trans. Robot. Automat., Vol. 14, No.1, pp. 105-113
  21. Jacobsen, S.C., Iversen, E.K., Knutti, D.F., Johnson, R.T. and Biggers, K.B., 1986, 'Design of the Utah/M.I.T. Dextrous Hand,' Proc. of IEEE Int. Conf. Robot. Automat., pp. 1520-1532
  22. Hwang, C.-S. and Sasaki, K., 2003, 'Evaluation of Robotic Fingers Based on Kinematic Analysis,' Proc. of IEEE/RSJ Int. Conf. Intelligent Robot. and Syst., pp. 3318-3324