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Analysis and Experimental Evaluation of the Intrinsically Passive Controller (IPC) for Multifingered Hands

Wimböck, Thomas and Ott, Christian and Albu-Schäffer, Alin and Hirzinger, Gerd (2008) Analysis and Experimental Evaluation of the Intrinsically Passive Controller (IPC) for Multifingered Hands. In: Proceedings, pp. 278-284. International Conference on Robotics and Automation, Pasadena, CA (USA).

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Abstract

The object level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks. In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp map. In a different approach Stramigioli introduces a virtual object - called “Intrinsically Passive Controller (IPC)”. This controller distributes the generalized object forces using coupling springs whose weighting have an intuitive physical meaning. Even though this controller has been known for several years we will present the first experimental results for a four-fingered hand. Furthermore, the term virtual grasp map is introduced and a method to parameterize the stiffness parameters in order to obtain an effective object level stiffness and a damping design is proposed. An implementation of the IPC is tested on the DLR Hand II and its performance is analyzed by manipulating soft and stiff objects.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Analysis and Experimental Evaluation of the Intrinsically Passive Controller (IPC) for Multifingered Hands
Authors:
AuthorsInstitution or Email of Authors
Wimböck, ThomasUNSPECIFIED
Ott, ChristianUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2008
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 278-284
Keywords:-
Event Title:International Conference on Robotics and Automation
Event Location:Pasadena, CA (USA)
Event Type:international Conference
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Telerobotik und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:29 Oct 2008
Last Modified:12 Dec 2013 20:33

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