Tell a friend
Print
Pfanne, Martin and Chalon, Maxime and Stulp, Freek and Ritter, Helge and Albu-Schäffer, Alin Olimpiu (2020) Object-Level Impedance Control for Dexterous In-Hand Manipulation. IEEE Robotics and Automation Letters, 5 (2), pp. 2987-2994. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2974702. ISSN 2377-3766.
This is the latest version of this item.
Full text not available from this repository.
Official URL: https://ieeexplore.ieee.org/abstract/document/9001211
Abstract
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.
| Item URL in elib: | https://elib.dlr.de/185789/ | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Article | ||||||||||||||||||||||||
| Title: | Object-Level Impedance Control for Dexterous In-Hand Manipulation | ||||||||||||||||||||||||
| Authors: |
| ||||||||||||||||||||||||
| Date: | 18 February 2020 | ||||||||||||||||||||||||
| Journal or Publication Title: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||||||
| Volume: | 5 | ||||||||||||||||||||||||
| DOI: | 10.1109/LRA.2020.2974702 | ||||||||||||||||||||||||
| Page Range: | pp. 2987-2994 | ||||||||||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
| ISSN: | 2377-3766 | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | Dexterous manipulation, grasping, compliance and impedance control | ||||||||||||||||||||||||
| 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 - Walking robot/locomotion [RO] | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics | ||||||||||||||||||||||||
| Deposited By: | Pfanne, Martin | ||||||||||||||||||||||||
| Deposited On: | 22 Mar 2022 11:44 | ||||||||||||||||||||||||
| Last Modified: | 11 Sep 2023 13:24 |
Available Versions of this Item
- Object-Level Impedance Control for Dexterous In-Hand Manipulation. (deposited 22 Mar 2022 11:44) [Currently Displayed]
Repository Staff Only: item control page
