Wimboeck, Thomas und Ott, Christian und Hirzinger, Gerhard (2006) Passivity-based Object-Level Impedance Control for a Multfingered Hand. In: Proceedings. IEEE/IROS International Conference on Intelligent Robots and Systems. RSJ, 2006-10-09 - 2006-10-15, Beijing, China.
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Kurzfassung
Holding an object and manipulating it in 6D is a key application for multifingered robot hands. In the past many algorithms were proposed based on a weighted pseudoinverse of the grasp map combined with an internal force control. The majority of these algorithms require robust contact detection/tracking and switching controllers. Employing the virtual object introduced by Stramigioli we present an object-level control law. We define a novel virtual object frame based on the robot hand configuration. Our control law takes a desired object frame and desired grasping forces as input, it is passive, has an intuitive physical meaning, and stability is even given in case a finger looses contact with the object. A damping design as a function of the desired object stiffness and the combined hand-object inertia is presented. The performance of the controller is proven in two experiments implemented on the DLR Hand II.
Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | ||||||||||||
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Titel: | Passivity-based Object-Level Impedance Control for a Multfingered Hand. | ||||||||||||
Autoren: |
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Datum: | 9 Oktober 2006 | ||||||||||||
Erschienen in: | Proceedings | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
In Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
Verlag: | IEEE/IROS International Conference on Intelligent Robots and Systems | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Impedance Control, Multfingered Hand | ||||||||||||
Veranstaltungstitel: | RSJ | ||||||||||||
Veranstaltungsort: | Beijing, China | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsdatum: | 2006-10-09 - 2006-10-15 | ||||||||||||
Veranstalter : | IEEE | ||||||||||||
HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||
HGF - Programm: | Weltraum (alt) | ||||||||||||
HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Weltraum | ||||||||||||
DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | W - Vorhaben DLR-4-Finger-Hand III (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) > Robotersysteme | ||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||
Hinterlegt am: | 27 Feb 2007 | ||||||||||||
Letzte Änderung: | 12 Dez 2013 20:21 |
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