Rolling Contact Motion Generation and Control of Robotic Fingers

Δρούκας, Λεωνίδας; Doulgeri, Zoe

doi:10.1007/s10846-015-0255-6

Cited by 7 publications

(4 citation statements)

References 20 publications

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“…Meanwhile, Figures 10,11,12,13,14 and 15 display the time histories of the angular displacements and the angular velocities of the finger joints. The results of the four joints in each finger are continuous and convergent.…”

Section: Simulation and Discussionmentioning

confidence: 99%

“…In reference [12], from the empirical observations of the contact constraints, a kinematic control method of the three-fingered hand robot was established to perform the position control of the grasped object. Reference [13] analyzed the rolling contact constraint and formulated a prescribed performance tracking controller for the robotic fingers. By visual servoing, reference [14] formulated the grasping contact constraints and presented two kinematic manipulation control schemes for the multi-fingered robot hand.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Zhao

Yang

et al. 2021

Nonlinear Dyn

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A novel analytical modeling and dynamic manipulation control method of the multi-fingered hand robot has been proposed in the paper. Based on the contact constraints, the explicit dynamics modeling of the hand robot manipulating an object is hierarchically established by Udwadia-Kalaba equation with no auxiliary variable (e.g., Lagrange multipliers or quasi-generalized variables). Through the second order of the contact constraints, the grasping forces of the hand robot in the manipulation work space are derived explicitly and decoupled with the control torques of the finger joints. Consider the hand robot and the object as an entire system in the control design. Motivated by Udwadia's work, the manipulation task of the grasped object is novelly used to formulate a set of servo constraints. In virtue of following the servo constraints, the hand robot can manipulate the object to accomplish the desired task. With the formulated contact forces model, a model-based dynamic control method is proposed for the hand robot to handle the object, which does not depend on the force feedback from the fingertips sensors (force sensorless). The system performance under

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Section: Simulation and Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Zhao

Yang

et al. 2021

Nonlinear Dyn

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“…Cycloidal reducers [21] allow robots to exhibit excellent performance (i.e., high robustness, torsional stiffness, mechanical efficiency). The main reason for their generating these performances is their large stress area and rolling contact [22]. Many researchers have analyzed various parameters of cycloidal gears [23,24].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Novel Actuator with a Double-Roller Gear Drive

Jiang

Niu

et al. 2023

Actuators

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In recent years, with the development of robot transmission technology, the market demand for high-performance actuators, which can be applied to lower limb exoskeleton assist robots, is increasing. These robots help achieve human–robot interaction through rigid and flexible coupling, and they can ensure the flexibility of the elderly or patients in daily walking and rehabilitation training. A novel actuator with a double-roller gear drive structure is proposed with high bearing capability and high transmission efficiency due to multi-tooth rolling contact with small tooth difference such that friction is greatly reduced in the transmission process compared to what occurs in involute planetary transmission. The bearing capacity of the tooth surface was analyzed by using the loaded contact analysis method. Finally, a prototype was manufactured with the 3D printer, and the maximum output torque of the developed actuator was tested with an experimental setup. The results show that this novel actuator, with its double-roller gear drive, has huge potential for use in the hip joint of an exoskeleton robot.

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“…Sphere is a unique geometrical object that can be visualized as a fingertip [1,2,3,4,5], a convex object [6,7,8] or a rolling robot [9,10,11,12,13]. Path planning and control of this underactuated model is a well-known problem.…”

Section: Introductionmentioning

confidence: 99%

Darboux-Frame-Based Parametrization for a Spin-Rolling Sphere on a Plane: A Nonlinear Transformation of Underactuated System to Fully-Actuated Model

Tafrishi,

Svinin,

Yamamoto

2021

Preprint

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This paper presents a new kinematic model based on the Darboux-frame for motion control and planning. In this work, we show that an underactuated system as a spin-rolling sphere on a plane with three inputs and five states can be transformed into a fully-actuated model by the given Darboux-frame transformation. This nonlinear state transformation is a geometric model that is different from conventional state-space models. First, a kinematic model of the Darboux frame at the contact point of a rotating object i.e., the sphere, is established. Next, we propose a virtual surface that is trapped between sphere and plane surfaces. This virtual surface generates arc-length-based inputs for controlling the trajectories on the sphere and plane. Finally, we discuss the controllability of this new system after our introduced transformation. In the future, we will design a proper geometric path planning method for the obtained kinematic model.

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Rolling Contact Motion Generation and Control of Robotic Fingers

Cited by 7 publications

References 20 publications

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Contact constraints-based dynamic manipulation control of the multi-fingered hand robot: a force sensorless approach

Design and Analysis of a Novel Actuator with a Double-Roller Gear Drive

Darboux-Frame-Based Parametrization for a Spin-Rolling Sphere on a Plane: A Nonlinear Transformation of Underactuated System to Fully-Actuated Model

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