Novel Dexterous Robotic Finger Concept with Controlled Stiffness

M. Wassink; Raffaella Carloni; Dannis Michel Brouwer; Stefano Stramigioli

Novel Dexterous Robotic Finger Concept with Controlled Stiffness

M. Wassink
, Raffaella Carloni
, Dannis Michel Brouwer
, Stefano Stramigioli

Faculty of Engineering Technology

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

164 Downloads (Pure)

Abstract

This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. The novel robotic finger combines three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework.

Original language	Undefined
Title of host publication	Proceedings of the 28th Benelux Meeting on Systems and Control
Place of Publication	Delft
Publisher	DISC
Pages	115
Number of pages	1
ISBN (Print)	not assigned
Publication status	Published - 16 Mar 2009
Event	28th Benelux Meeting on Systems and Control 2009 - Spa, Belgium Duration: 16 Mar 2009 → 18 Mar 2009 Conference number: 28

Publication series

Name
Publisher	DISC

Conference

Conference	28th Benelux Meeting on Systems and Control 2009
Country/Territory	Belgium
City	Spa
Period	16/03/09 → 18/03/09

Keywords

METIS-268940
IR-71239
Dexterous grasping
robotic grasping
EWI-17858
variable compliance
variable stiffness
impedance control
robotic manipulation

Access to Document

Cite this

@inproceedings{109dd9a0c9ee442fa073672dd186bfd1,

title = "Novel Dexterous Robotic Finger Concept with Controlled Stiffness",

abstract = "This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. The novel robotic finger combines three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework.",

keywords = "METIS-268940, IR-71239, Dexterous grasping, robotic grasping, EWI-17858, variable compliance, variable stiffness, impedance control, robotic manipulation",

author = "M. Wassink and Raffaella Carloni and Brouwer, \{Dannis Michel\} and Stefano Stramigioli",

note = "http://www.montefiore.ulg.ac.be/\textasciitilde{}beneluxmeeting09/BeneluxMeeting09\_BookofAbstracts.pdf; 28th Benelux Meeting on Systems and Control 2009 ; Conference date: 16-03-2009 Through 18-03-2009",

year = "2009",

month = mar,

day = "16",

language = "Undefined",

isbn = "not assigned",

publisher = "DISC",

pages = "115",

booktitle = "Proceedings of the 28th Benelux Meeting on Systems and Control",

}

TY - GEN

T1 - Novel Dexterous Robotic Finger Concept with Controlled Stiffness

AU - Wassink, M.

AU - Carloni, Raffaella

AU - Brouwer, Dannis Michel

AU - Stramigioli, Stefano

N1 - Conference code: 28

PY - 2009/3/16

Y1 - 2009/3/16

N2 - This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. The novel robotic finger combines three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework.

AB - This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. The novel robotic finger combines three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities. The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework.

KW - METIS-268940

KW - IR-71239

KW - Dexterous grasping

KW - robotic grasping

KW - EWI-17858

KW - variable compliance

KW - variable stiffness

KW - impedance control

KW - robotic manipulation

M3 - Conference contribution

SN - not assigned

SP - 115

BT - Proceedings of the 28th Benelux Meeting on Systems and Control

PB - DISC

CY - Delft

T2 - 28th Benelux Meeting on Systems and Control 2009

Y2 - 16 March 2009 through 18 March 2009

ER -