NDLI: Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping

Content Provider	IEEE Xplore Digital Library
Author	Wassink, M. Carloni, R. Stramigioli, S.
Copyright Year	2010
Description	Author affiliation: Control Engineering, EE-Math-CS, University of Twente, P.O. Box 217, 7500 AE, Enschede, The Netherlands (Wassink, M.; Carloni, R.; Stramigioli, S.)
Abstract	This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. A brief literature survey reveals the need for minimal component designs and the benefits of impedance control schemes for interaction tasks such as grasping. The novel robotic finger concept supports these insights by combining three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework. The framework proved to be suitable in analyzing and understanding the finger properties, which will be used for future controller design.
Starting Page	771
Ending Page	776
File Size	289650
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509871
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Fingers Impedance Robotics and automation Humans Stability Force control Grasping Mechanical variables control Automatic control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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