IROS 2015 Paper Abstract


Paper ThDT7.2

Zhang, Fan (State Key Laboratory of Robotics and System, Harbin Institute of), Su, Yanyu (Harbin Institute of Technology), Zhang, Xiang (Harbin Institue of Technology), Dong, Wei (Harbin Institute of Technology), Du, Zhijiang (harbin institute of technology)

An Under-actuated Manipulation Controller Based on Workspace Analysis and Gaussian Processes

Scheduled for presentation during the Regular session "Dexterous Manipulation 1" (ThDT7), Thursday, October 1, 2015, 14:15−14:30, Saal B3

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Underactuated Robots, Dexterous Manipulation


The kinematic modelling has been applied to many controllers of under-actuated manipulators. Most of these studies assume that the control process is conducted within the workspace. However, as such a kinematic model cannot describe the situations when the stable grasping is violated in the real environment, these controllers may fail unexpectedly. In this paper, we propose a combination of kinematics based Workspace Analysis (WA) and Gaussian Process Classification (GPC) to model the success rates of control actions in the theoretical workspace. We also use the Gaussian Process Regression (GPR) to identify the following state of a control action. We then apply this integrated model, Gaussian Processes enhanced Workspace Analysis (GP-WA), into an optimal controller. The optimal controller is implemented on a planar under-actuated gripper with two three-phalanx fingers. Two sets of simulation experiments are carried out to validate our method. The results demonstrate that the optimal manipulation controller based on GP-WA achieves high control accuracy for manipulating a wide range of objects.



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