Lael Odhner

Force Admittance Control of an Underactuated Gripper with Full-State Feedback

We present admittance control and fingertip contact detection with a linkage gripper remotely driven by a pneumatic rolling diaphragm actuator. The gripper is driven by underactuated mechanisms sensorized by joint encoders in order to fully determine the gripper state. We present the modelling of th