Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

24 Citations (Scopus)
75 Downloads (Pure)

Abstract

This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. A brief literature survey reveals the need for minimal component designs and the benefits of impedance control schemes for interaction tasks such as grasping. The novel robotic finger concept supports these insights by combining 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. The framework proved to be suitable in analyzing and understanding the finger properties, which will be used for future controller design.
Original languageUndefined
Title of host publication2010 IEEE International Conference on Robotics and Automation
Place of PublicationLos Alamitos
PublisherIEEE Computer Society Press
Pages771-776
Number of pages6
ISBN (Print)978-1-4244-5038-1
DOIs
Publication statusPublished - May 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, United States
Duration: 3 May 20107 May 2010

Publication series

Name
PublisherIEEE Computer Society Press
ISSN (Print)1050-4729

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Abbreviated titleICRA
CountryUnited States
CityAnchorage
Period3/05/107/05/10

Keywords

  • METIS-270916
  • IR-72451
  • port-hamiltonian modeling
  • robotic grasping
  • under-actuation
  • EWI-18151

Cite this

Wassink, M., Carloni, R., & Stramigioli, S. (2010). Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping. In 2010 IEEE International Conference on Robotics and Automation (pp. 771-776). [10.1109/robot.2010.5509871] Los Alamitos: IEEE Computer Society Press. https://doi.org/10.1109/robot.2010.5509871
Wassink, M. ; Carloni, Raffaella ; Stramigioli, Stefano. / Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping. 2010 IEEE International Conference on Robotics and Automation. Los Alamitos : IEEE Computer Society Press, 2010. pp. 771-776
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Wassink, M, Carloni, R & Stramigioli, S 2010, Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping. in 2010 IEEE International Conference on Robotics and Automation., 10.1109/robot.2010.5509871, IEEE Computer Society Press, Los Alamitos, pp. 771-776, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, United States, 3/05/10. https://doi.org/10.1109/robot.2010.5509871

Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping. / Wassink, M.; Carloni, Raffaella; Stramigioli, Stefano.

2010 IEEE International Conference on Robotics and Automation. Los Alamitos : IEEE Computer Society Press, 2010. p. 771-776 10.1109/robot.2010.5509871.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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AB - This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. A brief literature survey reveals the need for minimal component designs and the benefits of impedance control schemes for interaction tasks such as grasping. The novel robotic finger concept supports these insights by combining 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. The framework proved to be suitable in analyzing and understanding the finger properties, which will be used for future controller design.

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Wassink M, Carloni R, Stramigioli S. Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping. In 2010 IEEE International Conference on Robotics and Automation. Los Alamitos: IEEE Computer Society Press. 2010. p. 771-776. 10.1109/robot.2010.5509871 https://doi.org/10.1109/robot.2010.5509871