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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: Preshaping, Robot hand, Virtual impedance control, Redundancy

会議録・要旨集フリー

p. 454

詳細

抄録

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.

責任著者(Corresponding author)

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