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
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;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1196650
