Kanguera: Difference between revisions
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'''Kanguera''' is a [[robot]] [[hand]] developed by the [[University of São Paulo]]. It runs the [[VxWorks]] [[operating system]]. The goal of this research project is to model the [[kinematic]] properties of a human hand so that better [[anthropomorphic]] robotic grippers or [[manipulator]]s can be developed. The name, Kanguera, is an ancient indigenous word for "bones outside the body".<ref>http://www.mecatronica.eesc.usp.br/wiki/upload/c/cb/BRAHMA_IROS_Paper_Apr_2007.pdf</ref> |
'''Kanguera''' is a [[robot]] [[hand]] developed by the [[University of São Paulo]]. It runs the [[VxWorks]] [[operating system]]. The goal of this research project is to model the [[kinematic]] properties of a human hand so that better [[anthropomorphic]] robotic grippers or [[manipulator]]s can be developed. The name, Kanguera, is an ancient indigenous word for "bones outside the body".<ref name=ieee>{{cite journal|last=Benante|first=Ruben C.|coauthors=Leonardo M. Pedro, Leandro C. Massaro, Valdinei L. Belini Aluízio F. R. Araújo, Glauco A. P. Caurin|title=A self-organizing state trajectory planner applied to an anthropomorphic robot hand|journal=IEEE/RSJ International Conference on Intelligent Robots and Systems|year=2007|month=April|pages=3082 - 3087|doi=10.1109/IROS.2007.4399457|url=http://www.mecatronica.eesc.usp.br/wiki/upload/c/cb/BRAHMA_IROS_Paper_Apr_2007.pdf|accessdate=20 November 2013}}</ref> |
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==Objectives== |
==Objectives== |
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According to the university's project page, some of the objectives of the Kanguera project are to develop strategies for dexterous robotic manipulation and to create new designs for robotic hands which are biologically inspired. These new designs and strategies will be used for user friendly [[human machine interface]] and for upper limb rehabilitation technologies.<ref>{{cite web|url=http://www.mecatronica.eesc.usp.br/wiki/index.php/Kanguera_Project |
According to the university's project page, some of the objectives of the Kanguera project are to develop strategies for dexterous robotic manipulation and to create new designs for robotic hands which are biologically inspired. These new designs and strategies will be used for user friendly [[human machine interface]] and for upper limb rehabilitation technologies.<ref>{{cite web|title=Kanguera Project|url=http://www.mecatronica.eesc.usp.br/wiki/index.php/Kanguera_Project|work=Mechatronics Laboratory|accessdate=20 November 2013}}</ref> |
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==System Description== |
==System Description== |
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The hand has an anthropomorphic shape, and is the size of a large human hand. It has 4 fingers, and a simplified thumb, each one with four [[Degrees of freedom (mechanics)|degrees of freedom]] (DOF).<ref>http://www.mecatronica.eesc.usp.br/wiki/upload/2/27/HIL_coben07_v2.pdf</ref> Each finger is treated as an individual robot, giving the overall system, from the wrist on, 20 DOF in total. The fingers are constructed from a special [[resin]], and the joints are designed to mimic human joints - they are not physically joined, but in close contact, using the resin's friction and cables to work together. The motion of each DOF driven though a [[servo]], and a cable transmission system. This transmission system is more accurate than the ones uses by previous robotic hands, and is thus more suitable for the implementation of complex trajectory algorithms, such as [[adduction]] and [[Abduction (kinesiology)|abduction]] capacity for both the fingers and the thumb.<ref |
The hand has an anthropomorphic shape, and is the size of a large human hand. It has 4 fingers, and a simplified thumb, each one with four [[Degrees of freedom (mechanics)|degrees of freedom]] (DOF).<ref name=cobem>{{cite journal|last=Pedro|first=Leonardo Marquez|coauthors=André Luis Dias, Leandro Cuenca Massaro, and Glauco Augusto de Paula Caurin|title=Dynamic Modelling and Hardware-in-the-loop Simulation applied to a Mechatronic Project|journal=Procedings of COBEM 2007|year=2007|month=November|url=http://www.mecatronica.eesc.usp.br/wiki/upload/2/27/HIL_coben07_v2.pdf|accessdate=20 November 2013}}</ref> Each finger is treated as an individual robot, giving the overall system, from the wrist on, 20 DOF in total. The fingers are constructed from a special [[resin]], and the joints are designed to mimic human joints - they are not physically joined, but in close contact, using the resin's friction and cables to work together. The motion of each DOF driven though a [[servo]], and a cable transmission system. This transmission system is more accurate than the ones uses by previous robotic hands, and is thus more suitable for the implementation of complex trajectory algorithms, such as [[adduction]] and [[Abduction (kinesiology)|abduction]] capacity for both the fingers and the thumb.<ref name=ieee /> |
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The computational hardware is based on a GE [[FANUC]] [[microcontroller]] with a [[G4 processor]], mounted on a standard compact [[PCI bus]].<ref>http://www.scielo.br/scielo.php?pid=S1678-58782009000400002&script=sci_arttext |
The computational hardware is based on a GE [[FANUC]] [[microcontroller]] with a [[G4 processor]], mounted on a standard compact [[PCI bus]].<ref>{{cite journal|last=Caurin|first=Glauco A. P.|coauthors=Leonardo M. Pedro|title=Hybrid motion planning approach for robot dexterous hands|journal=Journal of the Brazilian Society of Mechanical Sciences and Engineering|year=2009|month=Oct./Dec.|volume=31|issue=4|doi=10.1590/S1678-58782009000400002|url=http://www.scielo.br/scielo.php?pid=S1678-58782009000400002&script=sci_arttext|accessdate=20 November 2013}}</ref> The operating system used to run the simulations is VxWorks 6.7, and the simulation environment is handled with GraspIt! software, where a model of the hand was developed in order to visualize it. |
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Hybrid motion planning approach for robot dexterous hands, Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol.31 no.4 Rio de Janeiro Oct./Dec. 2009</ref> The operating system used to run the simulations is VxWorks 6.7, and the simulation environment is handled with GraspIt! software, where a model of the hand was developed in order to visualize it. |
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==Development== |
==Development== |
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The hand was developed by the Mechatronics Laboratory at the School of Engineering of São Carlos, University of São Paulo as a successor to the Like its predecessor, the BRAHMA hand. It is now in its 4th generation.<ref> |
The hand was developed by the Mechatronics Laboratory at the School of Engineering of São Carlos, University of São Paulo as a successor to the Like its predecessor, the BRAHMA hand. It is now in its 4th generation.<ref>{{cite web|last=Stucheli|first=Marius N.|title=Jaguaruna: A Trajectory Planner and Executor for the Kanguera Robot Hand|url=http://e-collection.library.ethz.ch/eserv/eth:783/eth-783-01.pdf|publisher=ETH Zurich|accessdate=20 November 2013|year=2009}}</ref> It utilizes [[Hardware-in-the-loop simulation]] techniques to reduce the development times.<ref name=cobem /> |
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{{Portal|Robotics|Brazil}} |
{{Portal|Robotics|Brazil}} |
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Revision as of 20:12, 20 November 2013
Kanguera is a robot hand developed by the University of São Paulo. It runs the VxWorks operating system. The goal of this research project is to model the kinematic properties of a human hand so that better anthropomorphic robotic grippers or manipulators can be developed. The name, Kanguera, is an ancient indigenous word for "bones outside the body".[1]
Objectives
According to the university's project page, some of the objectives of the Kanguera project are to develop strategies for dexterous robotic manipulation and to create new designs for robotic hands which are biologically inspired. These new designs and strategies will be used for user friendly human machine interface and for upper limb rehabilitation technologies.[2]
System Description
The hand has an anthropomorphic shape, and is the size of a large human hand. It has 4 fingers, and a simplified thumb, each one with four degrees of freedom (DOF).[3] Each finger is treated as an individual robot, giving the overall system, from the wrist on, 20 DOF in total. The fingers are constructed from a special resin, and the joints are designed to mimic human joints - they are not physically joined, but in close contact, using the resin's friction and cables to work together. The motion of each DOF driven though a servo, and a cable transmission system. This transmission system is more accurate than the ones uses by previous robotic hands, and is thus more suitable for the implementation of complex trajectory algorithms, such as adduction and abduction capacity for both the fingers and the thumb.[1]
The computational hardware is based on a GE FANUC microcontroller with a G4 processor, mounted on a standard compact PCI bus.[4] The operating system used to run the simulations is VxWorks 6.7, and the simulation environment is handled with GraspIt! software, where a model of the hand was developed in order to visualize it.
Development
The hand was developed by the Mechatronics Laboratory at the School of Engineering of São Carlos, University of São Paulo as a successor to the Like its predecessor, the BRAHMA hand. It is now in its 4th generation.[5] It utilizes Hardware-in-the-loop simulation techniques to reduce the development times.[3]
References
- ^ a b Benante, Ruben C. (2007). "A self-organizing state trajectory planner applied to an anthropomorphic robot hand" (PDF). IEEE/RSJ International Conference on Intelligent Robots and Systems: 3082–3087. doi:10.1109/IROS.2007.4399457. Retrieved 20 November 2013.
{{cite journal}}: Unknown parameter|coauthors=ignored (|author=suggested) (help); Unknown parameter|month=ignored (help) - ^ "Kanguera Project". Mechatronics Laboratory. Retrieved 20 November 2013.
- ^ a b Pedro, Leonardo Marquez (2007). "Dynamic Modelling and Hardware-in-the-loop Simulation applied to a Mechatronic Project" (PDF). Procedings of COBEM 2007. Retrieved 20 November 2013.
{{cite journal}}: Unknown parameter|coauthors=ignored (|author=suggested) (help); Unknown parameter|month=ignored (help) - ^ Caurin, Glauco A. P. (2009). "Hybrid motion planning approach for robot dexterous hands". Journal of the Brazilian Society of Mechanical Sciences and Engineering. 31 (4). doi:10.1590/S1678-58782009000400002. Retrieved 20 November 2013.
{{cite journal}}: Unknown parameter|coauthors=ignored (|author=suggested) (help); Unknown parameter|month=ignored (help) - ^ St?ucheli, Marius N. (2009). "Jaguaruna: A Trajectory Planner and Executor for the Kanguera Robot Hand" (PDF). ETH Zurich. Retrieved 20 November 2013.