TY - JOUR
T1 - Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control
AU - Tokiwa, Shunsuke
AU - Arita, Hikaru
AU - Suzuki, Yosuke
AU - Tahara, Kenji
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2024
Y1 - 2024
N2 - Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to realize the three functions of simultaneous finger contact, impact reduction, and contact force control, which enable effective grasping of an unknown object. We accomplish this by using a control framework called multiple virtual dynamics-based control, which was proposed in a previous study. The advantage of this control is that multiple functions can be realized without switching control laws. The previous study achieved two functions, impact reduction and contact force control, with a two layers of impedance control which was applied independently to individual fingers. In this paper, a new idea of virtual dynamics that treats multiple fingers comprehensively is introduced, which enables the function of simultaneous contact without compromising the other two functions. This research provides a method to achieve delicate grasping by using proximity sensors. For the effectiveness of the proposed method, please refer to https://youtu.be/q0OrJBal4yA.
AB - Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to realize the three functions of simultaneous finger contact, impact reduction, and contact force control, which enable effective grasping of an unknown object. We accomplish this by using a control framework called multiple virtual dynamics-based control, which was proposed in a previous study. The advantage of this control is that multiple functions can be realized without switching control laws. The previous study achieved two functions, impact reduction and contact force control, with a two layers of impedance control which was applied independently to individual fingers. In this paper, a new idea of virtual dynamics that treats multiple fingers comprehensively is introduced, which enables the function of simultaneous contact without compromising the other two functions. This research provides a method to achieve delicate grasping by using proximity sensors. For the effectiveness of the proposed method, please refer to https://youtu.be/q0OrJBal4yA.
KW - Force control
KW - grasping
KW - sensor-based control
UR - http://www.scopus.com/inward/record.url?scp=85209581272&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85209581272&partnerID=8YFLogxK
U2 - 10.1109/LRA.2024.3497726
DO - 10.1109/LRA.2024.3497726
M3 - Article
AN - SCOPUS:85209581272
SN - 2377-3766
VL - 9
SP - 11633
EP - 11640
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
IS - 12
ER -