Name
Title | ||
|---|---|---|
A Force Controlled Under Actuated Robotic Hand with Mechanical Intelligence and Proprioceptive Compliant Actuation |
Abstract | ||
|---|---|---|
A three-finger under actuated robotic hand with dexterous force control and inherent compliance is developed and tested. A simplified biomimetic finger design is generated and applied, with mechanical intelligence principles carefully designed and embedded such that optimal trajectories for grabbing are naturally followed and the fingers can automatically conform to the goal object. A generalizable potential energy flow theory is then proposed to explain the mechanism behind the mechanical intelligence. The theory is also supported by experimental results. Quasi-direct drive actuators were developed to actuate the robotic hand with proprioceptive force sensing and inherent compliance. The hand performs delicate force controlled manipulation with a simple compliance controller implemented. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/HUMANOIDS.2018.8625017 | 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids) |
Keywords | Field | DocType |
manipulators,optimal grabbing trajectories,compliance controller,mechanical intelligence,biomimetic finger design,force controlled manipulation,proprioceptive force sensing,quasidirect drive actuators,inherent compliance,dexterous force control,proprioceptive compliant actuation,actuated robotic hand | Control theory,Robotic hand,Computer science,Simulation,Potential energy,Proprioception,Actuator | Conference |
ISSN | ISBN | Citations |
2164-0572 | 978-1-5386-7284-6 | 0 |
PageRank | References | Authors |
0.34 | 4 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xiaoguang Zhang | 1 | 8 | 5.01 |
| Taoyuanmin Zhu | 2 | 2 | 2.47 |
| Itsui Yamayoshi | 3 | 0 | 0.68 |
| Dennis W. Hong | 4 | 22 | 7.01 |