A Bio-inspired Grasp Stiffness Control for Robotic Hands.

ABSTRACT: This work presents a bio-inspired grasp stiffness control for robotic hands based on the concepts of Common Mode Stiffness (CMS) and Configuration Dependent Stiffness (CDS). Using an ellipsoid representation of the desired grasp stiffness, the algorithm focuses on achieving its geometrical features. Based on preliminary knowledge of the fingers workspace, the method starts by exploring the possible hand poses that maintain the grasp contacts on the object. This outputs a first selection of feasible grasp configurations providing the base for the CDS control. Then, an optimization is performed to find the minimum joint stiffness (CMS control) that would stabilize these grasps. This joint stiffness can be increased afterwards depending on the task requirements. The algorithm finally chooses

SUBMITTER: Ruiz Garate V 

PROVIDER: S-EPMC7805693 | biostudies-literature | 2018

REPOSITORIES: biostudies-literature