elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Comparison of Object Level Grasp Controllers for Dynamic Dexterous Manipulation

Wimböck, Thomas and Ott, Christian and Albu-Schäffer, Alin and Hirzinger, Gerd (2012) Comparison of Object Level Grasp Controllers for Dynamic Dexterous Manipulation. The International Journal of Robotics Research, 32 (2). SAGE Publications. DOI: 10.1177/0278364911416526 ISSN 0278-3649

Full text not available from this repository.

Abstract

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 introduced a virtual-object based controller – called an Intrinsically Passive Controller (IPC). These controllers are reviewed and compared. A new controller that is similar to the IPC but using a virtual frame rather than a virtual object is subsequently proposed. The controllers are compared with respect to their object force distribution, the extendability to N fingers, the ease of specifying the object-level impedance and grasp forces, the dimensionality of the coupling springs, the internal controller dynamics, and the computational effort. Controllers for robotic hands usually implement only stiffness controllers and do not program the damping. We address how to choose and implement damping as a function of the desired object-level stiffness and the effective hand–object inertia. The evaluation reveals the dynamic effects of fast motions, which should not be neglected for the design of grasp controllers in practice. The application of the controllers to the torque-controlled DLR Hand II is employed to compare their effectiveness in experiments.

Item URL in elib:https://elib.dlr.de/81301/
Document Type:Article
Title:Comparison of Object Level Grasp Controllers for Dynamic Dexterous Manipulation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wimböck, ThomasThomas.Wimboeck (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) DLR.deUNSPECIFIED
Date:2012
Journal or Publication Title:The International Journal of Robotics Research
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:32
DOI :10.1177/0278364911416526
Publisher:SAGE Publications
ISSN:0278-3649
Status:Published
Keywords:Design and control, force control, grasping, manipulation, multi-fingered hands
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Grebenstein, Dr. sc. Markus
Deposited On:21 Feb 2013 13:21
Last Modified:06 Sep 2019 15:30

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.