Analysis and experimental evaluation of the Intrinsically Passive Controller (IPC) for multifingered hands

The object level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks. In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp map. In a different approach Stramigioli introduces a virtual object - called &quo...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 278 - 284
Main Authors Wimbock, T., Ott, C., Hirzinger, G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
Damping
Force control
Impedance
Kinematics
Level control
Performance analysis
Robotics and automation
Robots
Springs
USA Councils
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543221

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Summary:The object level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks. In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp map. In a different approach Stramigioli introduces a virtual object - called "intrinsically passive controller (IPC)". This controller distributes the generalized object forces using coupling springs whose weighting have an intuitive physical meaning. Even though this controller has been known for several years we will present the first experimental results for a four-fingered hand. Furthermore, the term virtual grasp map is introduced and a method to parameterize the stiffness parameters in order to obtain an effective object level stiffness and a damping design is proposed. An implementation of the IPC is tested on the DLR Hand II and its performance is analyzed by manipulating soft and stiff objects.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543221