Wimboeck, Thomas and Ott, Christian and 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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Abstract
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.
Item URL in elib: | https://elib.dlr.de/45267/ | ||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||
Title: | Passivity-based Object-Level Impedance Control for a Multfingered Hand. | ||||||||||||
Authors: |
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Date: | 9 October 2006 | ||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||
Refereed publication: | Yes | ||||||||||||
Open Access: | Yes | ||||||||||||
Gold Open Access: | No | ||||||||||||
In SCOPUS: | No | ||||||||||||
In ISI Web of Science: | No | ||||||||||||
Publisher: | IEEE/IROS International Conference on Intelligent Robots and Systems | ||||||||||||
Status: | Published | ||||||||||||
Keywords: | Impedance Control, Multfingered Hand | ||||||||||||
Event Title: | RSJ | ||||||||||||
Event Location: | Beijing, China | ||||||||||||
Event Type: | international Conference | ||||||||||||
Event Dates: | 2006-10-09 - 2006-10-15 | ||||||||||||
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 - Vorhaben DLR-4-Finger-Hand III (old) | ||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||
Deposited By: | Beinhofer, Gabriele | ||||||||||||
Deposited On: | 27 Feb 2007 | ||||||||||||
Last Modified: | 31 Jul 2019 19:18 |
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