Using damping injection and passivity in robotic manipulation

Claudio Melchiorri; Stefano Stramigioli; Stefano Andreotti

doi:10.1109/AIM.1999.803305

Using damping injection and passivity in robotic manipulation

Claudio Melchiorri^*, Stefano Stramigioli, Stefano Andreotti

^*Corresponding author for this work

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

6 Citations (Scopus)

1 Downloads (Pure)

Abstract

In this article, experimental results obtained adopting a control strategy for robotic manipulation based on passivity concepts are presented and discussed. The control strategy, that can be used for both tips and full grasps, can be framed in the context of impedance control, and it is characterized by two fundamental features. The first one is the so-called `virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second feature is the `damping injection' principle, which allows a stable execution of the planned task. Major advantages of this strategy are the physical intuition on which it is based and its passive nature that ensures stability in all the situations, including in particular the transition from no contact to contact and vice versa.

Original language	English
Title of host publication	1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Pages	979-984
Number of pages	6
DOIs	https://doi.org/10.1109/AIM.1999.803305
Publication status	Published - 1 Dec 1999
Externally published	Yes
Event	1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99) - Atlanta, United States Duration: 19 Sept 1999 → 23 Sept 1999

Conference

Conference	1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99)
Abbreviated title	AIM 1999
Country/Territory	United States
City	Atlanta
Period	19/09/99 → 23/09/99

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10.1109/AIM.1999.803305

Cite this

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title = "Using damping injection and passivity in robotic manipulation",

abstract = "In this article, experimental results obtained adopting a control strategy for robotic manipulation based on passivity concepts are presented and discussed. The control strategy, that can be used for both tips and full grasps, can be framed in the context of impedance control, and it is characterized by two fundamental features. The first one is the so-called `virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second feature is the `damping injection' principle, which allows a stable execution of the planned task. Major advantages of this strategy are the physical intuition on which it is based and its passive nature that ensures stability in all the situations, including in particular the transition from no contact to contact and vice versa.",

author = "Claudio Melchiorri and Stefano Stramigioli and Stefano Andreotti",

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doi = "10.1109/AIM.1999.803305",

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}

Melchiorri, C, Stramigioli, S & Andreotti, S 1999, Using damping injection and passivity in robotic manipulation. in 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. pp. 979-984, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99), Atlanta, Georgia, United States, 19/09/99. https://doi.org/10.1109/AIM.1999.803305

TY - GEN

T1 - Using damping injection and passivity in robotic manipulation

AU - Melchiorri, Claudio

AU - Stramigioli, Stefano

AU - Andreotti, Stefano

PY - 1999/12/1

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N2 - In this article, experimental results obtained adopting a control strategy for robotic manipulation based on passivity concepts are presented and discussed. The control strategy, that can be used for both tips and full grasps, can be framed in the context of impedance control, and it is characterized by two fundamental features. The first one is the so-called `virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second feature is the `damping injection' principle, which allows a stable execution of the planned task. Major advantages of this strategy are the physical intuition on which it is based and its passive nature that ensures stability in all the situations, including in particular the transition from no contact to contact and vice versa.

AB - In this article, experimental results obtained adopting a control strategy for robotic manipulation based on passivity concepts are presented and discussed. The control strategy, that can be used for both tips and full grasps, can be framed in the context of impedance control, and it is characterized by two fundamental features. The first one is the so-called `virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second feature is the `damping injection' principle, which allows a stable execution of the planned task. Major advantages of this strategy are the physical intuition on which it is based and its passive nature that ensures stability in all the situations, including in particular the transition from no contact to contact and vice versa.

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U2 - 10.1109/AIM.1999.803305

DO - 10.1109/AIM.1999.803305

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SN - 0-7803-5038-3

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EP - 984

BT - 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

T2 - 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM '99)

Y2 - 19 September 1999 through 23 September 1999

ER -

Using damping injection and passivity in robotic manipulation

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