Title :
Force position control for a pneumatic anthropomorphic hand
Author :
Bierbaum, Alexander ; Schill, Julian ; Asfour, Tamim ; Dillmann, Rüdiger
Author_Institution :
Inst. for Anthropomatics, Univ. of Karlsruhe (TH), Karlsruhe, Germany
Abstract :
Robot hands based on fluidic actuators are a promising technology for humanoid robots due to their compact size and excellent power-weight-ratio. Yet, such actuators are difficult to control due to the inherent nonlinearities of pneumatic systems. In this paper we present a control approach based on a simplified model of the fluidic actuator providing force and position control and further fingertip contact detection. We have implemented the method on the microcontroller of the human hand sized FRH-4 robot hand with 8 DoF and present results of several experiments, including system response and force controlled operation.
Keywords :
control nonlinearities; fingerprint identification; fluidic devices; force control; humanoid robots; pneumatic actuators; pneumatic systems; position control; robot kinematics; FRH-4 robot hand; fingertip contact detection; fluidic actuators; force position control; human hand; humanoid robots; microcontroller; pneumatic anthropomorphic hand; pneumatic system nonlinearities; power-weight-ratio; Anthropomorphism; Control nonlinearities; Control systems; Force control; Humanoid robots; Nonlinear control systems; Pneumatic actuators; Pneumatic systems; Position control; Power system modeling;
Conference_Titel :
Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on
Conference_Location :
Paris
Print_ISBN :
978-1-4244-4597-4
Electronic_ISBN :
978-1-4244-4588-2
DOI :
10.1109/ICHR.2009.5379579
