Abstract
A new robot hand dynamics model with rolling constraints and with a saddle joint at one finger is proposed, where two saddle-joint actuations are considered to be orderless. Spinning motion around the opposition axis connecting two center points of each finger-tip contact area with an object is faithfully treated, and a viscosity model for damping rotational motion of the object is proposed. A class of control signals without referring to object kinematics or using external sensing is proposed. Finally, numerical simulation results show the stability of motion of the overall closed-loop dynamics supplied with the proposed control input.
Original language | English |
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Article number | 5152733 |
Pages (from-to) | 2499-2505 |
Number of pages | 7 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
DOIs | |
Publication status | Published - 2009 |
Event | 2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: May 12 2009 → May 17 2009 |
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering