Virtual Impedance Control for Preshaping of a Robot Hand

Zhi-wei Luo; Takahiro Ito; Noritune Sugimoto; Tadashi Odashima; Shigeyuki Hosoe

doi:10.11499/sicep.2002.0.454.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.454.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Virtual Impedance Control for Preshaping of a Robot Hand

Zhi-wei Luo, Takahiro Ito, Noritune Sugimoto, Tadashi Odashima, Shigeyuki Hosoe

Author information

Keywords: Preshaping, Robot hand, Virtual impedance control, Redundancy

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 454

Details

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.

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