Skip to main content

Advertisement

Springer Nature Link
Log in

Momentum Transfer from Preshape to Grasping

  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

A fully immersed object, suspended in water can be rotated from distance by a preshaped robot hand approaching and closing upon the object prior to contacting it. Momentum transfer from robot fingers closing into a grasp, to the fluid medium particles, and from these particles to the object surface generates the motion tendencies of that object in terms of rotational and translational displacements. In this paper, we propose the novel concept of a controller that determines either: 1) given initial position and orientation of a robot hand, what preshape is suitable for generating a desired momentum distribution on the surface of a given object in order to trigger a desired rotation in a desired direction when approaching with this preshaped hand; or 2) given a predetermined hand preshape, what initial position, orientation and hand aperture are suitable to generate a desired rotation upon approach and, without causing the retroceeding of the object. The desired object motion generated from distance by the approach of a hand preshape is to be used seamlessly for the subsequent manipulation of the object upon grasp. Towards this end, we propose in our work, a new model based on computational fluid dynamics, for determining the continuity in momentum transfer from robot hand fingers to the fluid medium, and to the object, until landing on that immersed object. Our experimental results demonstrate how different hand preshapes initiated from different locations in the medium surrounding an object of different cross sections suspended in equilibrium in the fluid, affects its motion tendencies in terms of rotation and translation. Our further contribution, in this paper, includes the modelling of robot fingers and object as fluidic elements which rigidity can be relaxed to induce compliance.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Arbib, M., Iberall, T., Lyons, D.: Schemas that integrate vision and touch for hand control. In: Arbib, M., Hansen, A. (eds.) Vision, Brain and Cooperative Communication. MIT Press, Cambridge (1985a)

  2. Arbib, M.A., Iberall, T., Lyons, D.: Neural network model integrating visual and somatic information. Exp. Brain Res. 10, 111–129 (1985b)

    Google Scholar 

  3. Bard, C., Troccaz, J., Vercelli, G.: Shape analysis and hand preshaping for grasping. In: IEEE/RSJ International Workshop on Intelligent Robots and Systems, vol. 91, pp. 64–69 (1991)

  4. Bicchi, A., Kumar, V.: Robotic grasping and contact: Review. In: IEEE International Conference Robotic and Automation, pp. 348–353 (2000)

  5. Castiello, U.: The neuroscience of grasping. Nat. Rev. Neurosci. 6(9), 726–736 (2005)

    Article  Google Scholar 

  6. Davies, J., Lane, D., Robinson, G., OiBrien, D., Pickett, M., Sfakiotakis, M., Deacon, B.: Subsea applications of continuum robots. In: Proceedings of ISUT, Apr 15–17, pp. 363–369 (1998)

  7. Dollar, A.M., Jentoft, L.P., Gao, J.H., Howe, R.D., et al.: Contact sensing and grasping performance of compliant hands. Auton. Robot. 28(1), 65–75 (2010)

    Article  Google Scholar 

  8. Erkmen, A.M., Erkmen, I., Tekkaya, E.: Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part I: Vorticity modeling. J Robot. Syst. 17, 199–212 (2000)

    Article  MATH  Google Scholar 

  9. Fukuda, H., Fukumura, N., Katayama, M., Uno, Y.: Relation between object recognition and formation of hand shape: a computational approach to human grasping movements. Syst. Comput. Jpn. 31(12), 11–22 (2000)

    Article  Google Scholar 

  10. Garcia, J.C., Fernandez, J.J., Sanz, P.J., Marin, R.: Increasing autonomy within underwater intervention scenarios: the user interface approach. In: 4th Annual IEEE Systems Conference, pp. 71–75, 5–8 April (2010)

  11. Haggard, P., Wing, A.M.: Coordination of hand aperture with the spatial path of hand transport. Exp. Brain Res. 118, 286–292 (1998)

    Article  Google Scholar 

  12. Hoff, B., Arbib, M.A.: Models of trajectory formation and temporal interaction of reach and grasp. J. Motor Behav. 25(3), 175–192 (1993)

    Article  Google Scholar 

  13. Jeannerod, M., Arbib, M.A., Rizzolatti, G., Sakata, H.: Grasping objects: The cortical mechanisms of visuomotor transformation. Trends Neurosci. 18(7), 314–320 (1995)

    Article  Google Scholar 

  14. Jeannerod, M.: The timing of natural prehension movements. J. Motor Behav. 16(3), 235–254 (1984)

    Article  Google Scholar 

  15. Kaneko,M., Hino, Y., Tsuji, T.: On three phases for achieving enveloping grasps-inspired by human grasping. In: International Conference on Robotics and Automation, pp. 385–390 (1997)

  16. Lee, M., Choi, H.S.: A robust neural controller for underwater robot manipulators. IEEE Trans. Neural Netw. 11(6), 1465–1470 (2000)

    Article  Google Scholar 

  17. Liu, C.-H., Lee, K.-M.: Dynamic modeling of damping effects in highly damped compliant fingers for applications involving contacts. Trans. ASME-G-J Dyn. Syst. Meas. Control 134(1) (2012)

  18. Pac, M.R., Erkmen, A.M., Erkmen, I.: Control of robotic swarm behaviors based on smoothed particle hydrodynamics. In: Proc IEEE/RSJ (Robotics Society of Japan) International Conference on Intelligent Robots and Systems (2007)

  19. Monaghan, J.: Smoothed particle hydrodynamics. Annu. Rev. Astron. Asrophys. 30(1), 543–574 (1992)

    Article  Google Scholar 

  20. Nguyen, V.-D.: Constructing force-closure grasps. In: IEEE International Conference on Robotics and Automation, pp. 1368–1373 (1986)

  21. Okamura, A.M., Smaby, N., Cutkosky, M.R.: An overview of dexterous manipulation. In: IEEE International Conference on Robotics and Automation, pp. 225–262 (2000)

  22. Ozyer, B., Erkmen, I., Erkmen, M.A.: Catching continuum between preshape and grasping based on fluidics. In: Proceedings of the ASME 2010 10th Biennial Conference on Engineering System Design and Analysis, July 12–14 (2010)

  23. Qingxin, M., Hua, W., Ping, L., Liquan, W., Ze, H.: Dexterous underwater robot hand: HEU hand II. In: IEEE International Conference on Mechatronics and Automation, pp. 1477–1482, 25–28 June (2006)

  24. Shao, S.: Incompressible sph simulation of water entry of a free-falling object. Int. J. Numer. Methods Fluids 59(1), 91–115 (2009)

    Article  MATH  Google Scholar 

  25. Tilki, U., Erkmen, I., Erkmen, M.A.: Imitation of basic hand preshapes by fluid based method: fluidics formation control. Turk. J. Electron. Eng. Comput. Sci. 19, 221–234 (2011)

    Google Scholar 

  26. Utsumi, M., Hirabayashi, T., Yoshie, M.: Development for teleoperation underwater grasping system in unclear environment. In: International Symposium on Underwater Technology, pp. 349–353 (2002)

  27. Versteeg, H.K., Malalasekera, W.: An Introduction to Computational Fluid Dynamics, 2nd edn. Longman, Harlow (2007)

  28. Wing, A.M., Turton, A., Fraser, C.: Grasp size and accuracy of approach in reaching. J. Mot. Behav. 18, 245–260 (1986)

    Article  Google Scholar 

  29. Yong, C., Sarkar, N.: A unified force control approach to autonomous underwater manipulation. In: IEEE International Conference on Robotics and Automation, vol. 2, pp. 1263–1268 (2000)

  30. Yoshinada, H., Yamazaki, T., Suwa, T., Naruse, T., Ueda, H.: Seawater hydraulic actuator system for underwater manipulator. In: 5th International Conference on Advanced Robotics, vol. 2, pp. 1330–1335, 19–22 Jun (1991)

  31. Yuh, J.: Design and control of autonomous underwater robots: A survey. Auton. Robot. 8(1), 7–24 (2000)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Electrical and Electronics Engineering, Middle East Technical University, Cankaya, 06800, Ankara, Turkey

    Baris Ozyer, Ismet Erkmen & Aydan M. Erkmen

Authors
  1. Baris Ozyer
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Ismet Erkmen
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Aydan M. Erkmen
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Baris Ozyer.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Ozyer, B., Erkmen, I. & Erkmen, A.M. Momentum Transfer from Preshape to Grasping. J Intell Robot Syst 75, 173–191 (2014). https://doi.org/10.1007/s10846-013-0018-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10846-013-0018-1

Keywords