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Experiment on Self-adaptive Impedance Control of Two-Finger Gripper with Tactile Sensing

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Cognitive Systems and Signal Processing (ICCSIP 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 710))

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Abstract

The end effector is crucial for handling and manipulating objects with a space manipulator during on-orbit service. In this paper, a new self-adaptive impedance controller for an underactuated two-finger gripper is proposed based on tactile sensing. The impedance controller makes the finger appear as mechanical impedance when it touches an unknown object. In particular, the impedance stiffness parameter can be adjusted using the stiffness recognition of tactile sensing in real time. Thus, there is no switching mode between motion in free space and the capture process, and the gripper can self-adapt the capture force to different stiffness of objects. Finally, a terrestrial experimental setup is established to validate the efficiency of the proposed controller for the gripper.

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Authors and Affiliations

  1. School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing, China

    Zhongyi Chu, Ye Ma & Miao Zhou

  2. Department of Computer Science and Technology, Tsinghua University, Beijing, China

    Fuchun Sun

Authors
  1. Zhongyi Chu
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  2. Ye Ma
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  3. Miao Zhou
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  4. Fuchun Sun
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Corresponding author

Correspondence to Ye Ma .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Fuchun Sun

  2. Department of Computer Science and Technology, Tsinghua University, Beijing, China

    Huaping Liu

  3. College of Mechatronics and Automation, National University of Defense Technology, Changsha, China

    Dewen Hu

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Chu, Z., Ma, Y., Zhou, M., Sun, F. (2017). Experiment on Self-adaptive Impedance Control of Two-Finger Gripper with Tactile Sensing. In: Sun, F., Liu, H., Hu, D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2016. Communications in Computer and Information Science, vol 710. Springer, Singapore. https://doi.org/10.1007/978-981-10-5230-9_28

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  • DOI: https://doi.org/10.1007/978-981-10-5230-9_28

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-5229-3

  • Online ISBN: 978-981-10-5230-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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