Paper Info
Title
Two-stage control via virtual desired values in soft-fingered manipulation with time delay
Abstract
This article focuses on the modeling and control in soft-fingered grasping and manipulation. We observed how a pair of 1-DOF fingers, whose fingertips are similar to humans in that they have a soft and hemispherical pad with a buttressing hard back plate, grasped and manipulated a rigid object. Based on the observations, we propose a parallel distributed model that takes into account tangential deformation of the fingertips. Human can grasp and manipulate an object despite of a relatively large delay of several ten milliseconds in the nerve system. We thus propose a two-stage control law via virtual desired angles for soft-fingered grasping and manipulation, and show that the proposed control law works well despite of the delay in control loop. here is what enables humans' dexterous object manipulation. In this article, we examine the dynamics and control in grasping and manipulation by a simple robotic hand consist- ing of a pair of 1-DOF rotational fingers with hemispherical fingertips that have a soft pad and a hard back plate, similar to human fingers. We observe its grasping and manipulation and propose a parallel distributed model of fingertips. We then propose a two-stage control law via virtual desired angles for soft-fingered grasping and manipulation. The proposed control law utilizes the softness of fingertips. We show that the proposed control law works well despite of the delay in control loop. Related work
Year
DOI
Venue
2007
10.1109/ROBIO.2007.4522226
Sanya
Keywords
Field
DocType
delays,manipulators,parallel distributed model,soft-fingered grasping,soft-fingered manipulation,time delay,two-stage control law,virtual desired angle,Control,Grasping,Manipulation,Soft-fingertips,Time-delay
GRASP,Distributed element model,Simulation,Control theory,Control engineering,Deformation (mechanics),Control system,Engineering
Conference
ISBN
Citations 
PageRank 
978-1-4244-1758-2
2
0.44
References 
Authors
10
2
Name
Order
Citations
PageRank
Takaniro Inoue120.44
S. Hirai212615.75