Motion-decoupled internal force control in grasping with visco-elastic contacts

Domenico Prattichizzo; Paolo Mercorelli

doi:10.1109/robot.2000.845339

Motion-decoupled internal force control in grasping with visco-elastic contacts

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Standard

Motion-decoupled internal force control in grasping with visco-elastic contacts. / Prattichizzo, Domenico; Mercorelli, Paolo.
Proceedings of the IEEE International Conference on Robotics and Automation. Vol. 4 IEEE - Institute of Electrical and Electronics Engineers Inc., 2000. p. 3901-3906 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Prattichizzo, D & Mercorelli, P 2000, Motion-decoupled internal force control in grasping with visco-elastic contacts. in Proceedings of the IEEE International Conference on Robotics and Automation. vol. 4, Proceedings - IEEE International Conference on Robotics and Automation, IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 3901-3906, Institute of Electrical and Electronics Engineers International Conference on Robotics and Automation - 2000, San Francisco, California, United States, 24.04.00. https://doi.org/10.1109/robot.2000.845339

APA

Prattichizzo, D., & Mercorelli, P. (2000). Motion-decoupled internal force control in grasping with visco-elastic contacts. In Proceedings of the IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3901-3906). (Proceedings - IEEE International Conference on Robotics and Automation). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/robot.2000.845339

Vancouver

Prattichizzo D, Mercorelli P. Motion-decoupled internal force control in grasping with visco-elastic contacts. In Proceedings of the IEEE International Conference on Robotics and Automation. Vol. 4. IEEE - Institute of Electrical and Electronics Engineers Inc. 2000. p. 3901-3906. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/robot.2000.845339

Bibtex

@inbook{1ba609bd8a4e4e2cbbc21793628dc87c,

title = "Motion-decoupled internal force control in grasping with visco-elastic contacts",

abstract = "Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internal forces is investigated. The presence of non-negligible compliance at contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A dynamic internal force control is proposed. It is decoupled with respect to the rigid-body object motions.",

keywords = "Dynamic internal force control, Prismatic joint, Robotic grasp, Viscoelastic contact, Degrees of freedom (mechanics), Force control, Human computer interaction, Mathematical models, Motion control, Position control, Robotics, Universal joints, Viscoelasticity, Motion planning, Engineering",

author = "Domenico Prattichizzo and Paolo Mercorelli",

note = "Conference code: 57053 Export Date: 22 May 2012 Source: Scopus CODEN: PIIAE Language of Original Document: English Correspondence Address: Prattichizzo, Domenico; Univ of Siena, Siena, Italy References: Basile, G., Marro, G., (1992) Controlled and Conditioned Invariants in Linear System Theory, , New Jersey, Prentice Hall; Barbagli, F., Marro, G., Mercorelli, P., Prattichizzo, D., Some results on output algebraic feedback with applications to mechanical systems (1998) Proc. 37th IEEE Conf. Decision Control, , Dec. Tampa, Florida; Bicchi, A., Force distribution in multiple whole-limb manipulation (1993) Proc. IEEE Int. Conf Robotics Automat, pp. 196-201; Bicchi, A., Melchiorri, C., Balluchi, D., On the mobility and manipulability of general multiple limb robots (1995) IEEE Trans. on Robotics and Automat., 11 (2); Howard, W.S., Kumar, V., Modelling and analysis of the compliance and stability of enveloping grasps (1995) Proceedings IEEE Int. Conf Robotics Automat, pp. 1367-1372; Mattikali, R., Khosla, P.K., Motion constraints from geometry of contact: Representation and analysis (1992) Proc. of IEEE Conf. on Robo. and Autom, , Nice, France, May; Mishra, B., Grasp metrics: Optimality and complexity (1995) Algorithmic Foundations of Robotics, pp. 137-166. , A.K. Peters, Wellesley, MA; Prattichizzo, D., Mercorelli, P., Geometric Control of General Manipulation System, , Intemal Report, Faculty of Engineering, University of Siena; Prattichizzo, D., Bicchi, A., Dynamic analysis of mobility and graspability of general manipulation systems (1998) IEEE Transactions on Robotics and Automation, 14 (2). , April; Prattichizzo, D., Bicchi, A., Consistent task specification for manipulation systems with general kinematics (1997) ASME Transactions Journal on Dynamics, System, Measurements and Control, , Dec; Prattichizzo, D., Salisbury, J.K., Bicchi, A., Contact and grasp robustness measures: Analysis and experiments (1995) Proceedings of 4° Int. Symp. on Experimental Robotics, pp. 50-60. , Stanford CA (USA); Trinkle, J.C., Farahat, A.O., Stiller, P.F., Second-order stability cells of a frictionless rigid body grasp by rigid body fingers (1994) Proceedings IEEE Int. Conf Robotics Automat., pp. 2815-2821; Zuo, B.-R., Selinger, G., Qian, W.-H., An off-line iterative and on-line analytical force distribution approach for soft multi-fingered hands (1999) Proc. IEEE Int. Conf Robotics Automat, , Detroit, Michigan; Zhang, X.-Y., Nakamura, Y., Goda, K., Yoshimoto, K., Robustness of power grasp (1994) Proceedings IEEE Int. Conf Robotics Automat, pp. 2828-2835 Sponsors: IEEE Robotics and Automation Society; Institute of Electrical and Electronics Engineers International Conference on Robotics and Automation - 2000, ICRA 2000 ; Conference date: 24-04-2000 Through 28-04-2000",

year = "2000",

month = jan,

day = "1",

doi = "10.1109/robot.2000.845339",

language = "English",

isbn = "0-7803-5886-4",

volume = "4",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

pages = "3901--3906",

booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",

address = "United States",

url = "https://www.ieee-ras.org/conferences-workshops/fully-sponsored/icra/past-and-future-venues",

}

RIS

TY - CHAP

T1 - Motion-decoupled internal force control in grasping with visco-elastic contacts

AU - Prattichizzo, Domenico

AU - Mercorelli, Paolo

N1 - Conference code: 57053 Export Date: 22 May 2012 Source: Scopus CODEN: PIIAE Language of Original Document: English Correspondence Address: Prattichizzo, Domenico; Univ of Siena, Siena, Italy References: Basile, G., Marro, G., (1992) Controlled and Conditioned Invariants in Linear System Theory, , New Jersey, Prentice Hall; Barbagli, F., Marro, G., Mercorelli, P., Prattichizzo, D., Some results on output algebraic feedback with applications to mechanical systems (1998) Proc. 37th IEEE Conf. Decision Control, , Dec. Tampa, Florida; Bicchi, A., Force distribution in multiple whole-limb manipulation (1993) Proc. IEEE Int. Conf Robotics Automat, pp. 196-201; Bicchi, A., Melchiorri, C., Balluchi, D., On the mobility and manipulability of general multiple limb robots (1995) IEEE Trans. on Robotics and Automat., 11 (2); Howard, W.S., Kumar, V., Modelling and analysis of the compliance and stability of enveloping grasps (1995) Proceedings IEEE Int. Conf Robotics Automat, pp. 1367-1372; Mattikali, R., Khosla, P.K., Motion constraints from geometry of contact: Representation and analysis (1992) Proc. of IEEE Conf. on Robo. and Autom, , Nice, France, May; Mishra, B., Grasp metrics: Optimality and complexity (1995) Algorithmic Foundations of Robotics, pp. 137-166. , A.K. Peters, Wellesley, MA; Prattichizzo, D., Mercorelli, P., Geometric Control of General Manipulation System, , Intemal Report, Faculty of Engineering, University of Siena; Prattichizzo, D., Bicchi, A., Dynamic analysis of mobility and graspability of general manipulation systems (1998) IEEE Transactions on Robotics and Automation, 14 (2). , April; Prattichizzo, D., Bicchi, A., Consistent task specification for manipulation systems with general kinematics (1997) ASME Transactions Journal on Dynamics, System, Measurements and Control, , Dec; Prattichizzo, D., Salisbury, J.K., Bicchi, A., Contact and grasp robustness measures: Analysis and experiments (1995) Proceedings of 4° Int. Symp. on Experimental Robotics, pp. 50-60. , Stanford CA (USA); Trinkle, J.C., Farahat, A.O., Stiller, P.F., Second-order stability cells of a frictionless rigid body grasp by rigid body fingers (1994) Proceedings IEEE Int. Conf Robotics Automat., pp. 2815-2821; Zuo, B.-R., Selinger, G., Qian, W.-H., An off-line iterative and on-line analytical force distribution approach for soft multi-fingered hands (1999) Proc. IEEE Int. Conf Robotics Automat, , Detroit, Michigan; Zhang, X.-Y., Nakamura, Y., Goda, K., Yoshimoto, K., Robustness of power grasp (1994) Proceedings IEEE Int. Conf Robotics Automat, pp. 2828-2835 Sponsors: IEEE Robotics and Automation Society

PY - 2000/1/1

Y1 - 2000/1/1

N2 - Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internal forces is investigated. The presence of non-negligible compliance at contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A dynamic internal force control is proposed. It is decoupled with respect to the rigid-body object motions.

AB - Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internal forces is investigated. The presence of non-negligible compliance at contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A dynamic internal force control is proposed. It is decoupled with respect to the rigid-body object motions.

KW - Dynamic internal force control

KW - Prismatic joint

KW - Robotic grasp

KW - Viscoelastic contact

KW - Degrees of freedom (mechanics)

KW - Force control

KW - Human computer interaction

KW - Mathematical models

KW - Motion control

KW - Position control

KW - Robotics

KW - Universal joints

KW - Viscoelasticity

KW - Motion planning

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=0033726635&partnerID=8YFLogxK

U2 - 10.1109/robot.2000.845339

DO - 10.1109/robot.2000.845339

M3 - Article in conference proceedings

SN - 0-7803-5886-4

VL - 4

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3901

EP - 3906

BT - Proceedings of the IEEE International Conference on Robotics and Automation

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - Institute of Electrical and Electronics Engineers International Conference on Robotics and Automation - 2000

Y2 - 24 April 2000 through 28 April 2000

ER -

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