Name
Abstract | ||
|---|---|---|
In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/IROS.2010.5650866 | IROS |
Keywords | Field | DocType |
multifingered robotic hand,soft finger manipulation,dirac structure,dexterous manipulators,intrinsically passive controller,port hamiltonian modeling,dynamics,energy flow,potential energy,mathematical model,energy storage | Control theory,Viscoelasticity,Algebraic number,Robotic hand,Internal forces,Hamiltonian (quantum mechanics),Control theory,Computer science,Control engineering,Potential energy,Dirac (video compression format) | Conference |
ISSN | ISBN | Citations |
2153-0858 | 978-1-4244-6674-0 | 2 |
PageRank | References | Authors |
0.39 | 5 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fanny Ficuciello | 1 | 122 | 16.80 |
| Raffaella Carloni | 2 | 220 | 21.13 |
| Ludo C. Visser | 3 | 120 | 10.41 |
| Stefano Stramigioli | 4 | 863 | 111.80 |