Port-Hamiltonian modeling for soft-finger manipulation

F. Ficuciello, Raffaella Carloni, L.C. Visser, Stefano Stramigioli

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    18 Citations (Scopus)
    229 Downloads (Pure)

    Abstract

    In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages4281-4286
    Number of pages6
    ISBN (Print)978-1-4244-6676-4
    DOIs
    Publication statusPublished - Oct 2010
    Event2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
    Duration: 18 Oct 201022 Oct 2010

    Publication series

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010
    Abbreviated titleIROS
    CountryTaiwan, Province of China
    CityTaipei
    Period18/10/1022/10/10

    Keywords

    • METIS-277440
    • EWI-18695
    • IR-74328

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