Salvietti, Gionata und Wimböck, Thomas und Prattichizzo, Domenico (2013) A Static Intrinsically Passive Controller to Enhance Grasp Stability of Object-based Mapping between Human and Robotic Hands. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X). IEEE. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013-11-03 - 2013-11-08, Tokio, Japan. doi: 10.1109/iros.2013.6696702. ISSN 1042-296X.
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Kurzfassung
Replicating human hand capabilities on robotic hands is a great challenge in robotics. The high complexity of mechanical and actuation systems of available robotic device can be, however, considerably mitigated if a human inspired control is considered. In this paper the application of an objectbased mapping to the control of robot hands is presented. The basic idea is to use a virtual object, e.g. a virtual sphere, to capture human hand motion generating suitable reference signals for a low level controller of the robotic hand. The low level controller considered, which shares the idea of virtual object to reduce the complexity of the control, is the static Intrinsically Passive Controller (s-IPC). This controller is inspired by the dynamic IPC, but provides a simpler and more efficient implementation. The proposed approach allows to map motion of a human hand model, controlled on the reduced subspace of postural synergies, onto robotic hands guaranteeing the stability of the robotic grasp. This concept, which has been experimentally validated in the paper, can be exploit for complex planning methods or used in telemanipulation application.
elib-URL des Eintrags: | https://elib.dlr.de/85151/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||
Titel: | A Static Intrinsically Passive Controller to Enhance Grasp Stability of Object-based Mapping between Human and Robotic Hands | ||||||||||||||||
Autoren: |
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Datum: | November 2013 | ||||||||||||||||
Erschienen in: | IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X) | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Nein | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
DOI: | 10.1109/iros.2013.6696702 | ||||||||||||||||
Verlag: | IEEE | ||||||||||||||||
ISSN: | 1042-296X | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | robotic grasping; impedance control; dimensionality reduction | ||||||||||||||||
Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||||||||||||
Veranstaltungsort: | Tokio, Japan | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 3 November 2013 | ||||||||||||||||
Veranstaltungsende: | 8 November 2013 | ||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Mechatronische Komponenten und Systeme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Wimböck, Thomas | ||||||||||||||||
Hinterlegt am: | 16 Dez 2013 18:07 | ||||||||||||||||
Letzte Änderung: | 07 Jun 2024 10:39 |
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