DocumentCode
393889
Title
Virtual impedance control for preshaping of a robot hand
Author
Luo, Zhiwei ; Ito, Takahiro ; Sugimoto, Noritune ; Odashima, Tadashi ; Hosoe, Shigeyuki
Author_Institution
Bio-mimetic Control Res. Center, RIKEN, Nagoya, Japan
Volume
3
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
2058
Abstract
A simple and fast virtual impedance control algorithm is presented for a dexterous robot hand to perform the complex preshaping and grasping movements. This algorithm integrates two conflict impedances for the fingers to separate between each other during approaching to grasp the object. Experiments and 3D dynamic simulations of a three fingered robot hand show the effectiveness of our approach.
Keywords
dexterous manipulators; manipulator dynamics; mechanical variables control; redundancy; virtual reality; complex preshaping; dexterous robot hand; dynamic simulations; manipulators; multifingered robot hand; object grasping movements; redundancy; virtual impedance control; AC motors; Fingers; Force control; Grasping; Impedance; Object recognition; Robot kinematics; Shape; Springs; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1196650
Filename
1196650
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