Wimböck, Thomas and Ott, Christian and Albu-Schäffer, Alin and Hirzinger, Gerd (2008) Analysis and Experimental Evaluation of the Intrinsically Passive Controller (IPC) for Multifingered Hands. In: Proceedings, pp. 278-284. International Conference on Robotics and Automation, Pasadena, CA (USA).
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Abstract
The object level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks. In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp map. In a different approach Stramigioli introduces a virtual object - called “Intrinsically Passive Controller (IPC)”. This controller distributes the generalized object forces using coupling springs whose weighting have an intuitive physical meaning. Even though this controller has been known for several years we will present the first experimental results for a four-fingered hand. Furthermore, the term virtual grasp map is introduced and a method to parameterize the stiffness parameters in order to obtain an effective object level stiffness and a damping design is proposed. An implementation of the IPC is tested on the DLR Hand II and its performance is analyzed by manipulating soft and stiff objects.
Item URL in elib: | https://elib.dlr.de/55822/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||||
Title: | Analysis and Experimental Evaluation of the Intrinsically Passive Controller (IPC) for Multifingered Hands | ||||||||||||||||||||
Authors: |
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Date: | 2008 | ||||||||||||||||||||
Journal or Publication Title: | Proceedings | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
Page Range: | pp. 278-284 | ||||||||||||||||||||
Keywords: | - | ||||||||||||||||||||
Event Title: | International Conference on Robotics and Automation | ||||||||||||||||||||
Event Location: | Pasadena, CA (USA) | ||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||
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 - Weiterentwicklung Robotik - Telerobotik und Autonomie (old) | ||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||||
Deposited By: | Klauer, Monika | ||||||||||||||||||||
Deposited On: | 29 Oct 2008 | ||||||||||||||||||||
Last Modified: | 31 Jul 2019 19:23 |
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