NDLI: Enhanced kinematic model for dexterous manipulation with an underactuated hand

Content Provider	IEEE Xplore Digital Library
Author	Yanyu Su Yan Wu Soh, H. Zhijiang Du Demiris, Y.
Copyright Year	2013
Description	Author affiliation: Dept. of Electr. & Electron. Eng., Imperial Coll. London, London, UK (Yan Wu; Soh, H.; Demiris, Y.) \|\| State Key Lab. of Robot & Syst., Harbin Inst. of Technol., Harbin, China (Yanyu Su; Zhijiang Du)
Abstract	Recent studies on underactuated manipulation usually describe the system with a Kinematic Model (KM), which is built by adding external constraints to the standard manipulation analysis method. However, such external constraints are easily violated in a real-world dexterous manipulation task which results in significant control errors. In this work, the Enhanced Kinematic Model (E-KM), an integrated model of the KM and the Sparse Online Gaussian Process (SOGP) is proposed. The E-KM can compensate the shortfalls of the KM by on-the-fly training the SOGP on the residual between the prediction of the KM and the ground truth data. Based on the E-KM, we further contribute an optimal controller for underactuated manipulations. This optimal E-KM controller is implemented and tested on the iCub, a humanoid robot with two anthropomorphic underactuated hands. Two sets of real-world experiments are carried out to verify our method. The results demonstrate that the controller using E-KM statistically can achieve higher control accuracy than using solely using the KM for a wide range of objects.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2493
Ending Page	2499
File Size	1610383
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696707
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Joints Kinematics Actuators Force Robots Standards
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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