TY - GEN
T1 - Compliance control with vector decomposer using one-dimensional pressure sensor for robotic hand
AU - Yu, Dacheng
AU - Yu, Zhangguo
AU - Chen, Xuechao
AU - Huang, Qiang
AU - Shi, Yongliang
AU - Zhu, Min
AU - Zhang, Weimin
AU - Ming, Aiguo
AU - Shimojo, Makoto
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/29
Y1 - 2017/12/29
N2 - Compliance control using tactile sensor for robotic hands have been one of the major research topics. Most researchers use a variety of multi-dimensional force sensors with compliance control. In this paper, we replace traditional multidimensional force/torque sensor with one-dimensional pressure sensor. In order to achieve the effect of multi-dimensional sensor, we also propose a vector decomposer to calculate the three-axes position error vector from one-dimensional position signal and make it works in position based impedance control. Finally, the performance of the vector decompose algorithm and compliance grasping are verified in simulation and experiment.
AB - Compliance control using tactile sensor for robotic hands have been one of the major research topics. Most researchers use a variety of multi-dimensional force sensors with compliance control. In this paper, we replace traditional multidimensional force/torque sensor with one-dimensional pressure sensor. In order to achieve the effect of multi-dimensional sensor, we also propose a vector decomposer to calculate the three-axes position error vector from one-dimensional position signal and make it works in position based impedance control. Finally, the performance of the vector decompose algorithm and compliance grasping are verified in simulation and experiment.
UR - https://www.scopus.com/pages/publications/85050021639
U2 - 10.1109/CAC.2017.8242809
DO - 10.1109/CAC.2017.8242809
M3 - Conference contribution
AN - SCOPUS:85050021639
T3 - Proceedings - 2017 Chinese Automation Congress, CAC 2017
SP - 445
EP - 450
BT - Proceedings - 2017 Chinese Automation Congress, CAC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 Chinese Automation Congress, CAC 2017
Y2 - 20 October 2017 through 22 October 2017
ER -