ICRA 2012 Paper Abstract

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Paper TuD04.1

Prattichizzo, Domenico (UniversitÓ di Siena), Malvezzi, Monica (University of Siena), Wimboeck, Thomas (German Aerospace Center (DLR)), Aggravi, Marco (University of Siena)

Object Motion-Decoupled Internal Force Control for a Compliant Multifingered Hand

Scheduled for presentation during the Regular Session "Force, Torque and Contacts in Grasping and Assembly" (TuD04), Tuesday, May 15, 2012, 16:30−16:45, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Grasping, Force Control, Multifingered Hands

Abstract

Compliance in multifingered hand improves grasp stability and effectiveness of the manipulation tasks. Compliance of robotic hands depends mainly on the joint control parameters, on the mechanical design of the hand, as joint passive springs, and on the contact properties. In object grasping the primary task of the robotic hand is the control of internal forces which allows to satisfy the contact constraints and consequently to guarantee a stable grasp of the object. When compliance is an essential element of the multifingered hand, and the control of the internal forces is not designed to be decoupled from the object motion, it happens that a change in the internal forces causes the object trajectory to deviate from the planned path with consequent performance degradation. This paper studies the structural conditions to design an internal force controller decoupled from object motions. The analysis is constructive and a controller of internal forces is proposed. We will refer to this controller as object motion-decoupled control of internal forces. The force controller has been successfully tested on a realistic model of the DLR Hand II. This controller provides a trajectory interface allowing to vary the internal forces (and to specify object motions) of an underactuated hand, which can be used by higher-level modules, e.g. planning tools.

 

 

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