[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



The proto-prototype of the servo-box is better than i thought. As always, with some cnc-made aluminium parts, the box could shrink in its size to around 40 cm in height and 30 cm in width. Then build into a nice electrical cabinet. On the picture you can see, that it has 5 steps, on every step there will be 8 servos for one finger. Then you can use it on e.g. warehouse vehicles and grab stuff.
<img src="/uploads/ros/original/1X/fade74aaae521dccdba4efd52a454d164b360879.jpg" width="690" height="328">






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



I got a hardware setup to power 40 servos and only use one USB2Dynamixel adapter. So i can address all 40 servos directly with one control software, only need to handle one usb-port.

Here is a picture, where you can see that every 6-port-hub is connected with its own power supply and every 6-port-hub is then inter-connected with each other only with the data-line of the 3-pin connector.

On every 6-port-hub then are 4-hubs available for servo-use.

<img src="/uploads/ros/original/1X/b9653e2e0dabced2db89e104d73a5c01b4f80edb.jpg" width="690" height="492">






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



Wow, thats how i thought it should be. A little nicer optics would be better, but it works. I put everything together inside a little box and put the robotic humanoid hand on top of it. The wire cables can be moved very easily. All 8 servos are recognized through one usb-port.

Pinging motor IDs 1 through 25...
Found 8 motors - 8 AX-12 [1, 2, 3, 4, 5, 6, 7, 8], initialization complete.

<img src="/uploads/ros/original/1X/4320ba519affc939f0037b69d8d5bed1cd8dd2f0.jpg" width="516" height="500">
<img src="/uploads/ros/original/1X/2ae82088fb6caa6f261c8bd3f44f6717da46af9b.jpg" width="690" height="352">






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



Nice things the finger can learn with ai . Learn to move the finger to a numpad number and press it, response/reward comes from keyboard itself. Or i build a little box with buttons, switches and so on, connect it to a arduion/rpi and get respons/reward for a convnet. Tipps and help is always welcome.

<img src="/uploads/ros/original/1X/3d488a9706a4781e33ae9ea033ca814767dfecdc.jpg" width="690" height="299">






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



Back to the roots. @samiam  The AX12-A servo does only send load value while it is moving, when you stop it, it sends a zero value. Thats not very good for usage. So i use again the flexiforce sensors to get the wire cable tension of every single wire cable. So a ai model can use this information for howto move the hand and also could "feel" if someone/something touches a finger.

Here a picture of the new setup with flexiforce sensors, the box is not getting bigger, which is positive, but more hardware is used.

<img src="/uploads/ros/original/1X/109bbfdc0ed8631545daf9771048a9141b574eef.jpg" width="690" height="415">






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



Here i move the finger only per manual control, thats why its so slow and not in one-move. You can move it as fast as the servo is. Here you can see how it moves :) Like i said, a little deep learning would be good, if someone knows a implementable code, please let me know

[https://youtu.be/9GWMH63Ey6I](https://youtu.be/9GWMH63Ey6I)






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



To put all this information into a picture, i thought about appending the info to the video-stream of the finger. I could add two other "info-pictures" on top of the finger-video-stream with the information about what the finger should do (press button 1, press button 2, or release finger from button). This i would do with a image of a number.

The next information is the force value (or wire tension value) from the force-sensors and a want-to-have force value from the user. So i simply would use 16 lines of 1pixel height and 1024 pixel in length (because there are 1024 force values). The first pixel line is the force i want-to-have on sensor1 and pixel line 2 is the actual force value from the sensor.

This video-stream i could then feed into a neural network.

So the neural net could get its rewards for matching force values and for the signal that comes from the keyboard if a button is pressed. Punishments if the force values are less then the want-to-have force value.

Here are some pictures that shows it. The numbers are what button it should press and X means it should release the button. The black pixels showing the force values.

<img src="/uploads/ros/original/1X/cb668e584a487d57b1924faee1f0c5f33bc35580.jpg" width="327" height="300">

<img src="/uploads/ros/original/1X/87c9b2a46d1b1a50e2e2d9efe05e092b70bc8642.jpg" width="327" height="300">

<img src="/uploads/ros/original/1X/66a389181b3c5be5e14923f134ff60b2a5517dd9.jpg" width="327" height="300">






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



I wrote a ROS node which captures the webcam stream with opencv and then i added two "images" above the webcam image.The first "image" is 50x50 pixels and shows the command. The second "image" is 32x512 pixels. I choose this, because the webcam video is 640x480 pixels, and so i can simply add 16 arrays of 1024 pixels. Then the webcam image is the third image. This image stream i then publish and can simply see it in rviz.

<img src="/uploads/ros/original/1X/d5e0b5f97f54b27826c34ed11f4cabc2e30596e9.png" width="690" height="427">

You can see the 16 black pixels above the webcam image and under the command-image. But as you can see, they are only pixels and not good to see, so my question is now, would a convnet be able to "see" and keep apart these pixels, or are they too small?






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



I designed and printed a new flexiforce adapter. With this one, the sensor is fixed at a perfect position even if you move the cable. Also it is between two metal parts. Here you can see it.

<img src="/uploads/ros/original/1X/14f24b21c761601abc28cf4765e946e340e8f584.jpg" width="690" height="426">

I also had built a new box to get everything in a fixed place and see how it would fit. Here is the front of the box.

<img src="/uploads/ros/original/1X/845b6ae804dbae7314cc56e258a5bcf22482422c.jpg" width="188" height="500">

And here the back of the box with all electronics. You just need to plug in one USB cable and one Ethernet-cable for the raspberry-pi and power it up.

<img src="/uploads/ros/original/1X/715f4f25b120cc9b7fed7b00440648753c755fff.jpg" width="224" height="500">

With this setup is absolutely easy to install the wire-cables for one robotic finger through these bowden cables. Plug in the cables and connect to rviz. ready to go






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



Hello all,
i started a kickstarter project to build a ready-to-production prototype of the Humanoid Robotic Hand. I hope you can support me and spread the message, or pledge something on my kickstarter site.

https://www.kickstarter.com/projects/390570217/humanoid-robotic-hand

Thanks alot






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



Woohoo, I got the honor of being the first backer :slight_smile: Your campaign seems ambitious but I wish you all the best! Keep up the good work.






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[Discourse.ros.org] [ROS Projects] Robotic Humanoid hand

derlcn via ros-users



thank you @dbolkensteyn for your support. Have a nice day :slight_smile:






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