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Pfanne, Martin und Chalon, Maxime und Stulp, Freek und Ritter, Helge und Albu-Schäffer, Alin Olimpiu (2020) Object-Level Impedance Control for Dexterous In-Hand Manipulation. IEEE Robotics and Automation Letters, 5 (2), Seiten 2987-2994. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2974702. ISSN 2377-3766.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/9001211
Kurzfassung
This work presents a novel object-level control framework for the dexterous in-hand manipulation of objects with torque-controlled robotic hands. The proposed impedance-based controller realizes the compliant 6-DOF positioning of a grasped object. Enabled by the in-hand localization, the slippage of contacts is avoided by actively maintaining the desired grasp configuration. The internal forces on the object are determined by solving a quadratic optimization problem, which explicitly considers friction constraints on the contacts and allows to gradually shift the load between fingers. The proposed framework is capable of dealing with dynamic changes in the grasp configuration, which makes it applicable for the control of the object during grasp acquisition or the reconfiguration of fingers (i.e. finger gaiting). A nullspace controller avoids joint limits and singularities. Experiments with the DLR robot David demonstrate the efficiency and performance of the controller in various grasping scenarios.
| elib-URL des Eintrags: | https://elib.dlr.de/185789/ | ||||||||||||||||||||||||
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| Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||
| Titel: | Object-Level Impedance Control for Dexterous In-Hand Manipulation | ||||||||||||||||||||||||
| Autoren: |
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| Datum: | 18 Februar 2020 | ||||||||||||||||||||||||
| Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
| Referierte Publikation: | Ja | ||||||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||||||
| In SCOPUS: | Ja | ||||||||||||||||||||||||
| In ISI Web of Science: | Ja | ||||||||||||||||||||||||
| Band: | 5 | ||||||||||||||||||||||||
| DOI: | 10.1109/LRA.2020.2974702 | ||||||||||||||||||||||||
| Seitenbereich: | Seiten 2987-2994 | ||||||||||||||||||||||||
| Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
| ISSN: | 2377-3766 | ||||||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||||||
| Stichwörter: | Dexterous manipulation, grasping, compliance and impedance control | ||||||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - Laufroboter/Lokomotion [RO] | ||||||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Kognitive Robotik | ||||||||||||||||||||||||
| Hinterlegt von: | Pfanne, Martin | ||||||||||||||||||||||||
| Hinterlegt am: | 22 Mär 2022 11:44 | ||||||||||||||||||||||||
| Letzte Änderung: | 11 Sep 2023 13:24 |
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- Object-Level Impedance Control for Dexterous In-Hand Manipulation. (deposited 22 Mär 2022 11:44) [Gegenwärtig angezeigt]
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