Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control

Shunsuke Tokiwa, Hikaru Arita, Yosuke Suzuki, Kenji Tahara

研究成果: ジャーナルへの寄稿学術誌査読

抄録

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.

本文言語英語
ページ(範囲)11633-11640
ページ数8
ジャーナルIEEE Robotics and Automation Letters
9
12
DOI
出版ステータス印刷中 - 2024

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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