Abstract:
There are a variety of methods to grasp an object. An internal force control is used to grasp an object and be compliant when an external disturbance is applied. simultan...Show MoreMetadata
Abstract:
There are a variety of methods to grasp an object. An internal force control is used to grasp an object and be compliant when an external disturbance is applied. simultaneously. An internal force control for a ball type object is not proper for a box type object grasping due to the error between an origin of the object reference frame and information about the center of mass (CoM) of the object. This paper considers dynamic situation during internal force control and suggests a proper control strategy for box type objects compared to the ball type object. To validate the proposed algorithm, internal force control using Allegro hand is conducted and showed competent results.
Published in: 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)
Date of Conference: 30 October 2013 - 02 November 2013
Date Added to IEEE Xplore: 02 December 2013
ISBN Information: