A Bio-inspired Grasp Stiffness Control for Robotic Hands
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....
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2018-07-01
|
| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/frobt.2018.00089/full |
| _version_ | 1811284131758211072 |
|---|---|
| author | Virginia Ruiz Garate Maria Pozzi Maria Pozzi Domenico Prattichizzo Domenico Prattichizzo Arash Ajoudani |
| author_facet | Virginia Ruiz Garate Maria Pozzi Maria Pozzi Domenico Prattichizzo Domenico Prattichizzo Arash Ajoudani |
| author_sort | Virginia Ruiz Garate |
| collection | DOAJ |
| description | 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 among all the found stable configurations the one that results in a better approximation of the desired grasp stiffness geometry (CDS). The proposed method results in a reduction of the control complexity, needing to independently regulate the joint positions, but requiring only one input to produce the desired joint stiffness. Moreover, the usage of the fingers pose to attain the desired grasp stiffness results in a more energy-efficient configuration than only relying on the joint stiffness (i.e., joint torques) modifications. The control strategy is evaluated using the fully actuated Allegro Hand while grasping a wide variety of objects. Different desired grasp stiffness profiles are selected to exemplify several stiffness geometries. |
| first_indexed | 2024-04-13T02:24:02Z |
| format | Article |
| id | doaj.art-b3d508fcdc43401eb42d5ea0c4359f98 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-04-13T02:24:02Z |
| publishDate | 2018-07-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-b3d508fcdc43401eb42d5ea0c4359f982022-12-22T03:06:50ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442018-07-01510.3389/frobt.2018.00089374302A Bio-inspired Grasp Stiffness Control for Robotic HandsVirginia Ruiz Garate0Maria Pozzi1Maria Pozzi2Domenico Prattichizzo3Domenico Prattichizzo4Arash Ajoudani5Human-Robot Interfaces and Physical Interaction Department, Istituto Italiano di Tecnologia, Genova, ItalyAdvanced Robotics Department, Istituto Italiano di Tecnologia, Genova, ItalyDepartment of Information Engineering and Mathematics, University of Siena, Siena, ItalyAdvanced Robotics Department, Istituto Italiano di Tecnologia, Genova, ItalyDepartment of Information Engineering and Mathematics, University of Siena, Siena, ItalyHuman-Robot Interfaces and Physical Interaction Department, Istituto Italiano di Tecnologia, Genova, ItalyThis 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 among all the found stable configurations the one that results in a better approximation of the desired grasp stiffness geometry (CDS). The proposed method results in a reduction of the control complexity, needing to independently regulate the joint positions, but requiring only one input to produce the desired joint stiffness. Moreover, the usage of the fingers pose to attain the desired grasp stiffness results in a more energy-efficient configuration than only relying on the joint stiffness (i.e., joint torques) modifications. The control strategy is evaluated using the fully actuated Allegro Hand while grasping a wide variety of objects. Different desired grasp stiffness profiles are selected to exemplify several stiffness geometries.https://www.frontiersin.org/article/10.3389/frobt.2018.00089/fullbio-inspiredgraspingstiffnessrobotic handunder-actuation |
| spellingShingle | Virginia Ruiz Garate Maria Pozzi Maria Pozzi Domenico Prattichizzo Domenico Prattichizzo Arash Ajoudani A Bio-inspired Grasp Stiffness Control for Robotic Hands Frontiers in Robotics and AI bio-inspired grasping stiffness robotic hand under-actuation |
| title | A Bio-inspired Grasp Stiffness Control for Robotic Hands |
| title_full | A Bio-inspired Grasp Stiffness Control for Robotic Hands |
| title_fullStr | A Bio-inspired Grasp Stiffness Control for Robotic Hands |
| title_full_unstemmed | A Bio-inspired Grasp Stiffness Control for Robotic Hands |
| title_short | A Bio-inspired Grasp Stiffness Control for Robotic Hands |
| title_sort | bio inspired grasp stiffness control for robotic hands |
| topic | bio-inspired grasping stiffness robotic hand under-actuation |
| url | https://www.frontiersin.org/article/10.3389/frobt.2018.00089/full |
| work_keys_str_mv | AT virginiaruizgarate abioinspiredgraspstiffnesscontrolforrobotichands AT mariapozzi abioinspiredgraspstiffnesscontrolforrobotichands AT mariapozzi abioinspiredgraspstiffnesscontrolforrobotichands AT domenicoprattichizzo abioinspiredgraspstiffnesscontrolforrobotichands AT domenicoprattichizzo abioinspiredgraspstiffnesscontrolforrobotichands AT arashajoudani abioinspiredgraspstiffnesscontrolforrobotichands AT virginiaruizgarate bioinspiredgraspstiffnesscontrolforrobotichands AT mariapozzi bioinspiredgraspstiffnesscontrolforrobotichands AT mariapozzi bioinspiredgraspstiffnesscontrolforrobotichands AT domenicoprattichizzo bioinspiredgraspstiffnesscontrolforrobotichands AT domenicoprattichizzo bioinspiredgraspstiffnesscontrolforrobotichands AT arashajoudani bioinspiredgraspstiffnesscontrolforrobotichands |