Human-inspired, Adult-size Dexterous Robot Hand
We use a adult-sized robot hand for learning grasping and object manipulation skills. The hand is mounted on our FRANKA EMIKA Panda robot.
The hand has 19 degrees-of-freedom and uses 8 smart actuators for precise control (actuators contained inside the unit).
Under actuated design aims to provide the right balance between fine control and conformance to the shape of the objects.
Tactile Sensing
All actuators provide real time control and feedback of position, speed and current measurement (with direction), enabling inference of applied force.
Additional data including actuator temperature, (over)load status and PWM, a Palm ToF Distance sensor and optional Capacitive pads at the back of the palm complete the sensor array.
We also have five 3-axis force-torque sensors (FTS) (shown in the image) attached to each finger tip. The FTS measure contact force and shear forces with a resolution of 1mN / 0.1g.
- E-Manual of the RH8 hand.
- ROS Interface description of the RH8 hand.
- E-Manual of the 3Axis F/T Sensors
- Details to our FRANKA ROS GitHub project.
- Details on the robot hardware can be found on the SEED Robotics page.
Videos
- Research videos using the robot will be presented here.
Publications
2020 |
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Sample-Efficient Covariance Matrix Adaptation Evolutional Strategy via Simulated Rollouts in Neural Networks Proceedings Article In: International Conference on Advances in Signal Processing and Artificial Intelligence (ASPAI’ 2020), 2020. |  |