DEXTERITY GROUP

DEXTERITY GROUP Personnel Amir Shapiro, Alon Wolf Aram (?), Avishai Sintov, Nir Levi, Amit Geynis Tasks Manipulate the steering wheel Repair task replaced by hose/cable connection task. Could be making electrical connection, or attaching hose. Possible connectors include push-to-connect, twist lock, and screw type. Hose size may range from garden hose to fire hose.

DEXTERITY GROUP Method Single arm movement. Single arm grasping. Moving both arms while avoiding collision Grasping using both arms. Moving two arms while applying force/torque. Solving an assembly task.

Single Arm Movement Gantt chart Nov-12Dec-12Jan-13Feb-13Mar-13Apr-13 Equations and Algorithm Development XX Algorithm implementation XX Simulations And TestsXX Improvements based on simulations X Hand Angle Publisher I.K SRV X,Y,Z Algorithm based on: Inverse Kinematics Solution. Position PID controller. Position based impedance control. I.K service. Trajectory as set of points. Input Arm dimensions Robot state Output Trajectory for the robot arm

Single arm grasping Gantt chart Nov-12Dec-12Jan-13Feb-13Mar-13Apr-13 Equations and Algorithm Development XX Algorithm implementation XX Simulations and TestsXX Improvements based on simulations XXX Algorithm based on: Force closure Convex hull of grasp map vectors Grasp quality measure. Contact location selection Contact forces selection Inverse kinematics of the arm and fingers. PID controller for the fingers Input 3D model of the grasped object Arm and fingers dimensions Robot state Output Trajectory for the robot arm and fingers Non-force- closure grasp Force-closure grasp Force-closure Quality Measure

Moving both arms while avoiding collision Gantt chart Nov-12Dec-12Jan-13Feb-13Mar-13Apr-13 Equations and Algorithm Development XX Algorithm implementation XX Simulations And TestsXX Improvements Based on simulations XX Algorithm based on: Forward kinematics Repulsive potential function Arm controllers Input Arm and fingers dimensions Robot state Output Trajectory for the robot arm and fingers

Grasping using both arms Gantt chart Nov-12Dec-12Jan-13Feb-13Mar-13Apr-13 Equations and Algorithm Development X Algorithm implementation XX Simulations And TestsXX Improvements Based on simulations XX Algorithm based on: Kinematic closed loop constraints Using Inverse Kinematics and impedance control Input 3D model of the grasped object Contact force sensing Arm dimensions Robot state Output Trajectory for the robot arms

Moving two arms while applying force/torque Gantt chart Nov-12Dec-12Jan-13Feb-13Mar-13Apr-13 Equations and Algorithm Development X X Algorithm implementation XX Simulations And TestsXX Improvements Based on simulations XX Algorithm based on: Motion using Inverse Kinematics and impedance control Input 3D model of the object Assembly plan Arm dimensions Robot state Output Trajectory for the robot arms

Solving an assembly task Gantt chart Nov-12Dec-12Jan-13Feb-13Mar-13Apr-13 Equations and Algorithm Development XX Algorithm implementation XX Simulations And TestsXX Improvements Based on simulations X Algorithm based on: Using Inverse Kinematics and impedance control Input 3D model of the two objects Assembly plan Arm dimensions Robot state Output Trajectory for the robot arms

Gantt chart Nov-12Dec-12Jan-13Feb-13Mar-13Apr-13 Equations and Algorithm Development XX XX XXXX XX X X Algorithm implementation XX XX XXXXXX X Simulations And TestsXXXXXXXX X Improvements based on simulations XXXX XX XX Single arm movement. Single arm grasping. Moving both arms while avoiding collision Grasping using both arms. Moving two arms while applying force/torque. Solving an assembly task. Conclusions