Force/position/rolling control for spherical tip robotic fingers

Leonidas Droukas; Yiannis Karayiannidis; Zoe Doulgeri

IROS 2015poster1 citations

Force/position/rolling control for spherical tip robotic fingers

Leonidas Droukas, Yiannis Karayiannidis, Zoe Doulgeri

Abstract

The rolling motion of a soft robotic fingertip is in this paper explicitly included in the control objectives together with the force/position regulation targets. A model based control law is proposed to linearize and decouple the system with respect to the force/position and sliding dynamics based on an appropriately defined task Jacobian. The controller is validated by simulations including rolling on a stationary surface and graspless manipulation of a flat object.

BibTeX

@inproceedings{iros2015_forcepositionrol,
  title = {Force/position/rolling control for spherical tip robotic fingers},
  author = {Leonidas Droukas and Yiannis Karayiannidis and Zoe Doulgeri},
  booktitle = {IROS 2015},
  year = {2015}
}