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Friction Estimation for Tendon-Driven Robotic Hands

Lange, Friedrich and Pfanne, Martin and Steinmetz, Franz and Wolf, Sebastian and Stulp, Freek (2021) Friction Estimation for Tendon-Driven Robotic Hands. In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. ICRA 2021, May 30 - June 5, Xi'an, China.

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Abstract

In tendon-driven robotic hands, tendons are usually routed along several pulleys. The resulting friction is often substantial, and must therefore be modelled and estimated, for instance for accurate control and contact detection. Common approaches for friction estimation consider special dedicated setups, where the parameters of a static or dynamic friction model at a single contact point are determined. In this paper, we rather combine such individual friction models into an overall friction model for the entire finger. Furthermore, we propose a method for estimating the parameters of this overall model in situ, i.e. from trajectories executed on the assembled hand, avoiding the need for dedicated setups. An important component of the proposed model is a varying bias for treating friction at low velocities, allowing a simpler static friction model to be used. We demonstrate that our approach enables contacts to be detected more accurately on the DLR David hand, without additional sensors.

Item URL in elib:https://elib.dlr.de/141623/
Document Type:Conference or Workshop Item (Speech)
Title:Friction Estimation for Tendon-Driven Robotic Hands
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Lange, FriedrichFriedrich.Lange (at) dlr.deUNSPECIFIED
Pfanne, Martinmartin.pfanne (at) dlr.dehttps://orcid.org/0000-0003-2076-4772
Steinmetz, FranzFranz.Steinmetz (at) dlr.dehttps://orcid.org/0000-0002-1481-9215
Wolf, Sebastiansebastian.wolf (at) dlr.dehttps://orcid.org/0000-0002-5711-5007
Stulp, FreekFreek.Stulp (at) dlr.dehttps://orcid.org/0000-0001-9555-9517
Date:2021
Journal or Publication Title:2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Model Learning for Control; Multifingered Hands; Tendon/Wire Mechanism
Event Title:ICRA 2021
Event Location:Xi'an, China
Event Type:international Conference
Event Dates:May 30 - June 5
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Intelligent Mobility (RM) [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Lange, Dr.-Ing. Friedrich
Deposited On:07 Jun 2021 08:57
Last Modified:07 Jun 2021 08:57

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