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

M. Wassink, Raffaella Carloni, Stefano Stramigioli

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    26 Citations (Scopus)
    240 Downloads (Pure)


    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
    Number of pages6
    ISBN (Print)978-1-4244-5038-1
    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

    PublisherIEEE Computer Society Press
    ISSN (Print)1050-4729


    Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
    Abbreviated titleICRA
    Country/TerritoryUnited States


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

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