A Passivity-based control scheme for robotic grasping and manipulation

Stefano Stramigioli; Claudio Melchiorri; Stefano Andreotti

doi:10.1109/CDC.1999.831385

A Passivity-based control scheme for robotic grasping and manipulation

Stefano Stramigioli^*, Claudio Melchiorri, Stefano Andreotti

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

13 Citations (Scopus)

1 Downloads (Pure)

Abstract

This article presents and discusses the application of an impedance control strategy to robotic grasping tasks. This control strategy, that can be used for both tips and full grasps, is based on two fundamental aspects. The first is the so-called 'virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second is the 'damping injection' principle, which allows a stable execution of the planned task. Major advantages of the presented strategy are the physical intuition on which it is based and its passive nature and which ensures stability in all the situations, including the transition from no contact to contact and vice versa. Experimental results will show the effectiveness of the control strategy.

Original language	English
Title of host publication	Proceedings of the 38th IEEE Conference on Decision and Control
Pages	2951-2956
Number of pages	6
Volume	3
DOIs	https://doi.org/10.1109/CDC.1999.831385
Publication status	Published - 1 Dec 1999
Externally published	Yes
Event	38th IEEE Conference on Decision and Control, CDC 1999 - Phoenix, United States Duration: 7 Dec 1999 → 10 Dec 1999 Conference number: 38

Conference

Conference	38th IEEE Conference on Decision and Control, CDC 1999
Abbreviated title	CDC
Country/Territory	United States
City	Phoenix
Period	7/12/99 → 10/12/99

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10.1109/CDC.1999.831385

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title = "A Passivity-based control scheme for robotic grasping and manipulation",

abstract = "This article presents and discusses the application of an impedance control strategy to robotic grasping tasks. This control strategy, that can be used for both tips and full grasps, is based on two fundamental aspects. The first is the so-called 'virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second is the 'damping injection' principle, which allows a stable execution of the planned task. Major advantages of the presented strategy are the physical intuition on which it is based and its passive nature and which ensures stability in all the situations, including the transition from no contact to contact and vice versa. Experimental results will show the effectiveness of the control strategy.",

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AU - Melchiorri, Claudio

AU - Andreotti, Stefano

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N2 - This article presents and discusses the application of an impedance control strategy to robotic grasping tasks. This control strategy, that can be used for both tips and full grasps, is based on two fundamental aspects. The first is the so-called 'virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second is the 'damping injection' principle, which allows a stable execution of the planned task. Major advantages of the presented strategy are the physical intuition on which it is based and its passive nature and which ensures stability in all the situations, including the transition from no contact to contact and vice versa. Experimental results will show the effectiveness of the control strategy.

AB - This article presents and discusses the application of an impedance control strategy to robotic grasping tasks. This control strategy, that can be used for both tips and full grasps, is based on two fundamental aspects. The first is the so-called 'virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second is the 'damping injection' principle, which allows a stable execution of the planned task. Major advantages of the presented strategy are the physical intuition on which it is based and its passive nature and which ensures stability in all the situations, including the transition from no contact to contact and vice versa. Experimental results will show the effectiveness of the control strategy.

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DO - 10.1109/CDC.1999.831385

M3 - Conference contribution

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SN - 0-7803-5250-5

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BT - Proceedings of the 38th IEEE Conference on Decision and Control

T2 - 38th IEEE Conference on Decision and Control, CDC 1999

Y2 - 7 December 1999 through 10 December 1999

ER -

A Passivity-based control scheme for robotic grasping and manipulation

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