Force Feedback Control For Dexterous Robotic Hands Using Conditional Postural Synergies

D. Dimou, J. Santos-Victor, Plinio Moreno
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Abstract

We present a force feedback controller for a dexterous robotic hand equipped with force sensors on its fingertips. Our controller uses the conditional postural synergies framework to generate the grasp postures, i.e. the finger configuration of the robot, at each time step based on forces measured on the robot's fingertips. Using this framework we are able to control the hand during different grasp types using only one variable, the grasp size, which we define as the distance between the tip of the thumb and the index finger. Instead of controlling the finger limbs independently, our controller generates control signals for all the hand joints in a (low-dimensional) shared space (i.e. synergy space). In addition, our approach is modular, which allows to execute various types of precision grips, by changing the synergy space according to the type of grasp. We show that our controller is able to lift objects of various weights and materials, adjust the grasp configuration during changes in the object's weight, and perform object placements and object handovers.
基于条件姿势协同的灵巧机械手力反馈控制
提出了一种基于力传感器的灵巧机械手力反馈控制器。我们的控制器使用条件姿势协同框架来生成抓取姿势,即机器人的手指配置,在每个时间步基于机器人指尖上测量的力。使用这个框架,我们能够在不同的抓握类型中控制手,只使用一个变量,抓握大小,我们将其定义为拇指尖端和食指之间的距离。我们的控制器不是单独控制手指肢体,而是在一个(低维)共享空间(即协同空间)中为所有手关节生成控制信号。此外,我们的方法是模块化的,允许执行各种类型的精密握把,根据握把的类型改变协同空间。我们展示了我们的控制器能够举起各种重量和材料的物体,在物体重量变化期间调整抓取配置,并执行物体放置和物体移交。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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