2014 VL CogSys 4

Fakultät für Informatik
der Technischen Universität München
Cognitive Systems
Robot Hands
Prof. Dr.-Ing. habil. Alois Knoll

Florian Röhrbein, Alexander Perzylo, Rafael Hostettler
Robotics and Embedded Systems (Informatik VI)
Cognitive Systems
SS 2014 1
Lehrstuhl Informatik VI – Robotics and Embedded Systems
Key Publications
C.L. MacKenzie and T. Iberall. The Grasping Hand. Advances in Psychology (Vol.
104), 1994
Bicchi, A.; Kumar, V., "Robotic grasping and contact: a review," Robotics and Automation,
2000. Proceedings. ICRA '00. IEEE International Conference on , vol.1, no.,
pp.348,353 vol.1, 2000
Miller, A.T.; Allen, P.K., "Graspit! A versatile simulator for robotic grasping," Robotics &
Automation Magazine, IEEE , vol.11, no.4, pp.110,122, Dec. 2004
R.M.Murray, Z.X.Li, and S.S.Sastry. A Mathematical Introduction to Robotic Manipulation.
CRC Press, 1994.
R. Haschke, J.J. Steil, I. Steuwer, H. Ritter, Task-oriented quality measures for dextrous
grasping, in: IEEE International Symposium on Computational
IntelligenceinRoboticsandAutomation,2005,pp.689–694.
A. Sahbani, S. El-Khoury, P. Bidaud, An overview of 3D object grasp synthesis
algorithms, Robotics and Autonomous Systems, Volume 60, Issue 3, March 2012,
Pages 326-336
SS 2014 Cognitive Systems 2

Goals
- Why is Grasping difficult?

- Why is building Hands difficult?
- Definitions: Grasp, Form closure, Force closure
- Grip Taxonomy: Disambiguation between grips
- Finray Gripper: Working principle
- Modeling Grasping: Assumptions, Disturbances
- Grasping Pipeline: Task to grasped object

There is a Long History of Prostheses …
A Rare German Prosthetic Hand, ca. 1580

Movable thumb and paired fingers, internal ratchet
mechanism and external push-button release
http://www.myarmoury.com/talk/viewtopic.php?t=7161
http://www.amputee-
coalition.org/inmotion/nov_dec_07/history_prosthetics.html
Today, there is a large variety of

highly sophisticated devices
available, see, e.g.,
http://www.ottobock.de

Building a Hand Challenges

- Mechanical
- Weight vs. Force
- Soft Materials
- Actuation
- Electrical
- Power vs. Energy storage
- Sensors: Touch, Temperature, ...
- Cabling
- Control
- High number of DoF
- Redundancy
- Sensing

A Brief History of Robot hands …
Belgrade I Hand (Tomovic), ca. 1948, Belgrade/USC II Hand (Tomovic/ Stanford-JPL hand (Ken Salisbury),
1 DOF, flexing fingers Bekey), ca. 1988, 4 DOF, flexing fingers, ca. 1985, 2 flexing fingers, one
rotating thumb thumb
… and others (esp. from Japan)
Utah-MIT-Hand (Steven Jacobson),

1986, tendon-driven, full
substitute (arm/hand)

Situation Today
• Today, there is a growing interest in
precision manipulation across all fields
of robotics
• There is also continued interest from
the military, see the DARPA program on
Revolutionizing Robotics
• Another activity is Exoskeletons for
enhancing a human‘s (a soldier‘s)
power and stamina
Johns Hopkins University's Bimanual
Dexterous Robotics Platform
http://www.gizmag.com/darpa-advanced-prosthetics-bomb-disposal-robot/27975
Raytheon Sarcos Exoskeleton

See, e.g.,
http://www.davidbuckley.net/RS/HandResearch.htm
http://www.darpa.mil/Our_Work/DSO/Programs/Revolutionizing_Prosthetics.aspx

Robotic grasping - introduction
Goal:
To hold an object in the robot’s end-effector firmly, preventing loss of contact. To maintain
the grasp even in the face of unknown disturbing forces or moments applied to the object.

Definitions
Grasping
• Holding something firmly relative to the end-effector
Form closure
• The object is completely enclosed by the hand, without
any wiggle room. No movement is possible in any direction
(assuming that all contacting bodies are rigid)
• Seven contact points are necessary for an arbitrary object in 3D with 6DOF [Bicchi,
Antonio. "On the closure properties of robotic grasping." The International Journal of
Robotics Research 14.4 (1995): 319-334.]
Force closure
• The object is held applying some force.
• “Similar to form closure, but relaxed to allow friction forces to balance the object
wrench” [Handbook of Robotics,Siciliano, Khatib (Eds.), Springer 2008, p684]
• 2 or 3 contact points necessary for a 3D object with 6DOF,
SS 2014depending on the type of contact
Cognitive Systems 9
Robot end-effectors for manipulation

Simple and advanced grippers
Manipulator used in the

lab exercise of this course
1 DOF (open-close) mainly for Advanced 3-finger

industrial routine grippers, fingers can
manipulations be rotated
Top: Schunk,
Bottom: Barrett

Underactuated grippers
FESTO Fingripper

Fin Ray concept

Highly flexible gripper/arm system

Anthropomorphic hands
TUManoid-Hand, designed and

built at Lehrstuhl Informatik VI
DLR hand with DC

“Shadow Hand” with
motors
pneumatic muscles
http://home.in.tum.de/~gaschler/tumanoid/

Soft hands
http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/deimel-14-RSS-draft.pdf


Hand models
Model used in ECHORD experiment HANDS.DVI

Alternative approach – beanbag gripper
http://www.youtube.com/watch? v=0d4f8fEysf8

Models for grasping

Taxonomy for human grasping
Cutkosky, M.R., "On grasp choice,

grasp models, and the design of
hands for manufacturing tasks,"
Robotics and Automation, IEEE
Transactions on , vol.5, no.3,
pp.269,279, Jun 1989

Taxonomy for human grasping – Power Grasp

pp.269,279, Jun 1989

Taxonomy for human grasping – Precision Grasp

pp.269,279, Jun 1989

Taxonomy for human grasping – Power Grasps

pp.269,279, Jun 1989

Taxonomy for human grasping – Precision Grasps

pp.269,279, Jun 1989

Taxonomy for human grasping – a modern revision
http://grasp.xief.net/documents/taxonomy.pdf







Rigid modeling of grasping systems
• Mathematical model capable of

predicting the behavior of the hand and
the object
• Typical disturbances: inertia forces,
gravity
• Grasp maintenance: the contact forces
applied by the hand prevent contact
separation and unwanted contact
sliding

Rigid modeling of grasping systems (2)
Assumptions:
• hand links are rigid
• the object is rigid
• each contact point has a unique, well-
defined tangent plane

Rigid modeling of grasping systems (3)
• 𝑁 = inertial frame (World)

• 𝐵 = frame attached to the object
• 𝑝 ∈ ℝ3 defines the position of 𝑁 rel.
to 𝐵
• 𝑐𝑗 ∈ ℝ3 is the position of each contact
point
• Each contact has a frame: 𝐶 𝑖 =
, 𝑛𝑖 , 𝑡𝑖 , 𝑜𝑖 with 𝑛𝑖 being normal to the
contact
• 𝑞𝑖 are the joint positions
• τ𝑖 are the joint efforts (torque or force)

Object Modeling
• For grasping, the external geometry is interesting.

• So usually, the model will be a triangle mesh (as used in computer games), or CAD
model.
• Important assumptions:
• Rigid (non-deformable) objects
• Shape is well known
• A model can be estimated from 3D point data (laser, stereo, time of flight)
• Find stable grasps through simulation

Systems for grasping and manipulation

Sensors for grasping
Stereo cameras
Time-of-flight
cameras
BioTac sensor:
- force
Strain gauges to
- vibration
measure forces
- temperature
RGB-D sensors
Contact/force sensors to Sensors to identify objects and to

Keep contact to the object find an optimal grasp

Arms
Top Row: Kuka LWR, BioRob, Anthrob

Bottom Row: Schunk LWA, Universal Robots UR, Igus Robolink
Identifying grasp pose
Chavdar Papazov and Darius Burschka.

(TUM, LS VI)
An Efficient RANSAC for 3D Object
Recognition in Noisy and Occluded
Scenes. In Proceedings of the 10th Asian
Conference on Computer Vision
(ACCV'10), November 2010

Identifying grasp pose

Using a database to find grasp candidates

Robot grasping: Unmodeled objects

An example – sorting objects

Papazov et al. Rigid 3D Geometry
Matching for Grasping of Known Objects
in Cluttered Scenes. IJRR April 2012
The logical clauses A, B and C defining the transition conditions, are the following:
A = no−object, B = no−grasp and C = collision ∨ failed-grasp

Chavdar Papazov, Sami Haddadin, Sven Parusel, Kai Krieger, and Darius
Burschka. Rigid 3D Geometry Matching for Grasping of Known Objects in
Cluttered Scenes. International Journal of Robotics Research, 31, April 2012

Integrating into real systems

• Deciding how to grasp an object is not as trivial as it feels
• Different grasp planning methods have their own advantages and disadvantages
• For the robot to act intelligently in the environment, a lot has to come together:
• Mobile base can move the robot precisely
• The arms have to place the end effectors where they are needed (avoiding
collisions)
• The robot must be able to grasp things without destroying them
• Grasping is only the first part of the story: then lifting and placing still are needed!

Beyond grasping
Beyond grasping
• Grasping is usually limited to holding the objects in the end-effector.
• Most robots are limited to pick-and-place tasks
• In-hand-manipulation requires much better dexterity
In-hand manipulation:
• Taking an object, and repositioning it in the hand
• Rotate and move the object to ease hand-over
• Or even grab a device and touch buttons
• Using an object effectively as a tool

In-hand manipulation

http://www.k2.t.u-tokyo.ac.jp/members/senoo/paper/senoo_icra09.pdf

http://spectrum.ieee.org/automaton/robotics/humanoids/dlr-super-robust-robot-hand

Anthropomorphic hands


2014 VL CogSys 4

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Fakultät für Informatik

der Technischen Universität München

Prof. Dr.-Ing. habil. Alois Knoll

SS 2014 Cognitive Systems 2

- Why is Grasping difficult?

SS 2014 Cognitive Systems 3

There is a Long History of Prostheses …

A Rare German Prosthetic Hand, ca. 1580

Today, there is a large variety of

SS 2014 Cognitive Systems 4

Building a Hand Challenges

SS 2014 Cognitive Systems 5

A Brief History of Robot hands …

… and others (esp. from Japan)

Utah-MIT-Hand (Steven Jacobson),

SS 2014 Cognitive Systems 6

Raytheon Sarcos Exoskeleton

SS 2014 Cognitive Systems 7

Robotic grasping - introduction

SS 2014 Cognitive Systems 8

Robot end-effectors for manipulation

SS 2014 Cognitive Systems 10

Simple and advanced grippers

Manipulator used in the

1 DOF (open-close) mainly for Advanced 3-finger

SS 2014 Cognitive Systems 11

SS 2014 Cognitive Systems 12

Fin Ray concept

SS 2014 Cognitive Systems 13

Highly flexible gripper/arm system

SS 2014 Cognitive Systems 14

TUManoid-Hand, designed and

DLR hand with DC

SS 2014 Cognitive Systems 15

SS 2014 Cognitive Systems 16

SS 2014 Cognitive Systems 17

Model used in ECHORD experiment HANDS.DVI

SS 2014 Cognitive Systems 18

Alternative approach – beanbag gripper

SS 2014 Cognitive Systems 19

Models for grasping

SS 2014 Cognitive Systems 20

Taxonomy for human grasping

Cutkosky, M.R., "On grasp choice,

SS 2014 Cognitive Systems 21

Taxonomy for human grasping – Power Grasp

Cutkosky, M.R., "On grasp choice,

SS 2014 Cognitive Systems 22

Taxonomy for human grasping – Precision Grasp

Cutkosky, M.R., "On grasp choice,

SS 2014 Cognitive Systems 23

Taxonomy for human grasping – Power Grasps

Cutkosky, M.R., "On grasp choice,

SS 2014 Cognitive Systems 24

Taxonomy for human grasping – Precision Grasps

Cutkosky, M.R., "On grasp choice,

SS 2014 Cognitive Systems 25

Taxonomy for human grasping – a modern revision

SS 2014 Cognitive Systems 26

Taxonomy for human grasping – a modern revision

SS 2014 Cognitive Systems 27

Taxonomy for human grasping – a modern revision

SS 2014 Cognitive Systems 28