Design and Implication of Force-Feedback-Based Robot Arms for Home Service Robots

Project: Research project

Project Details


This project is a subproject of the integrated project entitled “Design and Application of Home Service Robots with Nature Communication Interface in Natural Environment.” In recent years, robots have been applied in a broad range of our lives, including the medical service, the transportation, the entertainment, and so on. Therefore the development of the home service robot is a tendency towards the improvement of our daily lives. More powerful the function of the intelligent robot is, more convenient our life will be. The main theme of this three-year subproject is developing the arms and hands of home service robot from single arm to double arms, and from gripper-type hand to the hand with five fingers. The detail tasks for each year are described as follows: The main goal in the first year is carrying on stage-one competitions of RoboCup@Home using robot's single arm. In the aspect of hardware design, we focus on the design and implementation of force-feedback-based arm of the HSR. By control strategies, we examine and investigate the forward and inverse kinematics of the arm, single arm’s 3D localization, the moving path of arm, force-feedback mechanism, safety mechanism for the HSR, and the DNA computing based control design. In the second year, our project mainly aims at four items of the stage-two competitions of RoboCup@Home. For hardware design, we modify the mechanism of the arm and build double arms in order to realize the test in Partybot and Supermarket, moreover, setup a chassis of clean arm to implement the Cleaning up test. As for control strategies, we focus on the balance, 3D locomotion, and path planning of double arms. The cooperation between robot arms and people is also a very important task in this year. The key points in the third year are twofold. One is to strengthen and improve the double arms, and investigate the finger function. With the development of the finger mechanism, force-feedback system, cooperation between robot arms, and finger 3D localization, we can design some special functions in entertainment, house keeping, and home care aspects. The other is to combine the function of the arm and fingers with the interactive ability of our HSR to attract the attention of the consumers in Taiwan. Finally, we expected to expand the HSR market, and promote the developed HSR to the entire Chinese world.
Effective start/end date11-08-0112-07-31


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