Port-Hamiltonian modeling for soft-finger manipulation

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

doi:10.1109/IROS.2010.5650866

Port-Hamiltonian modeling for soft-finger manipulation

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

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

21 Citations (Scopus)

429 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 language	Undefined
Title of host publication	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	USA
Publisher	IEEE
Pages	4281-4286
Number of pages	6
ISBN (Print)	978-1-4244-6676-4
DOIs	https://doi.org/10.1109/IROS.2010.5650866
Publication status	Published - Oct 2010
Event	2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan Duration: 18 Oct 2010 → 22 Oct 2010

Publication series

Name
Publisher	IEEE Robotics and Automation Society

Conference

Conference	2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010
Abbreviated title	IROS
Country/Territory	Taiwan
City	Taipei
Period	18/10/10 → 22/10/10

Keywords

METIS-277440
EWI-18695
IR-74328

Access to Document

10.1109/IROS.2010.5650866

Cite this

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title = "Port-Hamiltonian modeling for soft-finger manipulation",

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.",

keywords = "METIS-277440, EWI-18695, IR-74328",

author = "F. Ficuciello and Raffaella Carloni and L.C. Visser and Stefano Stramigioli",

note = "10.1109/IROS.2010.5650866 ; 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010 ; Conference date: 18-10-2010 Through 22-10-2010",

year = "2010",

month = oct,

doi = "10.1109/IROS.2010.5650866",

language = "Undefined",

isbn = "978-1-4244-6676-4",

publisher = "IEEE",

pages = "4281--4286",

booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems",

address = "United States",

}

Ficuciello, F, Carloni, R, Visser, LC & Stramigioli, S 2010, Port-Hamiltonian modeling for soft-finger manipulation. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, USA, pp. 4281-4286, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, 18/10/10. https://doi.org/10.1109/IROS.2010.5650866

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T1 - Port-Hamiltonian modeling for soft-finger manipulation

AU - Ficuciello, F.

AU - Carloni, Raffaella

AU - Visser, L.C.

AU - Stramigioli, Stefano

N1 - 10.1109/IROS.2010.5650866

PY - 2010/10

Y1 - 2010/10

N2 - 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.

AB - 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.

KW - METIS-277440

KW - EWI-18695

KW - IR-74328

U2 - 10.1109/IROS.2010.5650866

DO - 10.1109/IROS.2010.5650866

M3 - Conference contribution

SN - 978-1-4244-6676-4

SP - 4281

EP - 4286

BT - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE

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T2 - 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010

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