@inproceedings{d743e44649dc4ccda569ded08062e0ef,
title = "Flexible FPGA-based controller architecture for five-fingered dexterous robot hand with effective impedance control",
abstract = "Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture based controller, one of which is used for data communication control and the other for joint and object level control. High speed (200μs cycle time) multipoint low-voltage differential signaling (LVDS) serial data bus communication between each finger and the controller, Ethernet communication between monitor PC and controller, are all implemented on a single FPGA chip. Experimental results and simulation with a five-fingered dexterous robot hand demonstrate that the controller architecture is able to achieve the desired robot hand impedance control performance and effective stable grasping.",
keywords = "Dexterous hand, FPGA, Flexible communication system, Grasping, Impedance control",
author = "Chen, {Z. P.} and Lii, {N. Y.} and K. Wu and H. Liu and Xue, {Z. X.} and Jin, {M. H.} and Liu, {Y. W.} and Fan, {S. W.} and T. Lan",
year = "2009",
doi = "10.1109/ROBIO.2009.5420731",
language = "English",
isbn = "9781424447756",
series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",
pages = "1063--1068",
booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",
note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",
}