Paper Info
Title
Grasp compliance regulation in synergistically controlled robotic hands with VSA
Abstract
In this paper, we propose a general method to achieve a desired grasp compliance acting both on the joint stiffness values and on the hand configuration, also in the presence of restrictions caused by synergistic underactuation. The approach is based on the iterative exploration of the equilibrium manifold of the system and the quasi-static analysis of the governing equations. As a result, the method can cope with large commanded variations of the grasp stiffness with respect to an initial configuration. Two numerical examples are illustrated. In the first one, a simple 2D hand is analyzed so that the obtained results can be easily verified and discussed. In the second one, to show the method at work in a more realistic scenario, we model grasp compliance regulation for a DLR/HIT hand II grasping a ball.
Year
DOI
Venue
2013
10.1109/IROS.2013.6696783
Intelligent Robots and Systems
Keywords
Field
DocType
compliance control,couplings,dexterous manipulators,elasticity,grippers,iterative methods,2D hand analysis,DLR-HIT hand II ball grasping,VSA,governing equations,grasp compliance regulation,hand configuration,iterative exploration,joint stiffness values,quasistatic analysis,synergistic underactuation,synergistically controlled robotic hands
Joint stiffness,Coupling,GRASP,Robotic hand,Stiffness,Computer science,Iterative method,Control engineering,Underactuation,Grippers
Conference
ISSN
Citations 
PageRank 
2153-0858
2
0.39
References 
Authors
8
4
Name
Order
Citations
PageRank
Edoardo Farnioli11187.00
Marco Gabiccini212413.28
Manuel Bonilla3153.55
Antonio Bicchi44104387.23