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A Static Intrinsically Passive Controller to Enhance Grasp Stability of Object-based Mapping between Human and Robotic Hands

Salvietti, Gionata and Wimböck, Thomas and 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, Tokio, Japan. ISSN 1042-296X

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Abstract

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.

Item URL in elib:https://elib.dlr.de/85151/
Document Type:Conference or Workshop Item (Speech)
Title:A Static Intrinsically Passive Controller to Enhance Grasp Stability of Object-based Mapping between Human and Robotic Hands
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Salvietti, GionataUNSPECIFIEDUNSPECIFIED
Wimböck, ThomasThomas.Wimboeck (at) dlr.deUNSPECIFIED
Prattichizzo, DomenicoUNSPECIFIEDUNSPECIFIED
Date:November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Publisher:IEEE
ISSN:1042-296X
Status:Published
Keywords:robotic grasping; impedance control; dimensionality reduction
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Tokio, Japan
Event Type:international Conference
Organizer:IEEE
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 Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Wimböck, Thomas
Deposited On:16 Dec 2013 18:07
Last Modified:09 Feb 2017 19:19

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