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 Start Date: | 9 October 2006 | ||||||||||||||||
Event End Date: | 15 October 2006 | ||||||||||||||||
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: | 24 Apr 2024 19:07 |
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