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Force/Position/Rolling Control For Spherical Tip Robotic Fingers

Leonidas Droukas ; Yiannis Karayiannidis (Institutionen för signaler och system, Mekatronik) ; Zoe Doulgeri
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2153-0858). p. 858-863. (2015)
[Konferensbidrag, refereegranskat]

The rolling motion of a soft robotic fingertip is in this paper explicitly included in the control objectives together with the force/position regulation targets. A model based control law is proposed to linearize and decouple the system with respect to the force/position and sliding dynamics based on an appropriately defined task Jacobian. The controller is validated by simulations including rolling on a stationary surface and graspless manipulation of a flat object.



Denna post skapades 2016-01-21. Senast ändrad 2016-04-15.
CPL Pubid: 231094

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)

Ämnesområden

Robotteknik och automation
Reglerteknik

Chalmers infrastruktur