A Novel Approach of Robust Active Compliance for Robot Fingers

J Jalani; Said G Khan; G Herrmann; CR Melhuish

doi:10.1007/978-3-642-23147-6_7

A Novel Approach of Robust Active Compliance for Robot Fingers

J Jalani, Said G Khan, G Herrmann, CR Melhuish

Research output: Chapter in Book/Report/Conference proceeding › Chapter in a book

Abstract

In order to guarantee that the grasping robot fingers are to be safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active compliant control technique is proposed by employing an Integral sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can be introduced for robot fingers. The performance of the ISMC is validated for constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for the compliance interaction with objects of different softness and passive compliance. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in particular friction and stiction.

Translated title of the contribution	A Novel Approach of Robust Active Compliance for Robot Fingers
Original language	English
Title of host publication	Next Wave in Robotics
Subtitle of host publication	14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011. Proceedings
Editors	T.H. Li, K.Y. Tu, C.C. Tsai, C.C. Hsu, C.C. Tseng, P. Vadakkepat, J. Baltes, J. Anderson, C.C. Wong, N. Jesse, C.H. Kuo, H.-C. Yang
Publisher	Springer Berlin Heidelberg
Pages	50 - 57
Number of pages	8
ISBN (Print)	9783642231469
DOIs	https://doi.org/10.1007/978-3-642-23147-6_7
Publication status	Published - 2011

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10.1007/978-3-642-23147-6_7

http://www.springerlink.com/content/jn11032367h565j6/

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Jalani, J., Khan, S. G., Herrmann, G., & Melhuish, CR. (2011). A Novel Approach of Robust Active Compliance for Robot Fingers. In T. H. Li, K. Y. Tu, C. C. Tsai, C. C. Hsu, C. C. Tseng, P. Vadakkepat, J. Baltes, J. Anderson, C. C. Wong, N. Jesse, C. H. Kuo, & H-C. Yang (Eds.), Next Wave in Robotics: 14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011. Proceedings (pp. 50 - 57). Springer Berlin Heidelberg. https://doi.org/10.1007/978-3-642-23147-6_7

Jalani, J ; Khan, Said G ; Herrmann, G ; Melhuish, CR. / A Novel Approach of Robust Active Compliance for Robot Fingers. Next Wave in Robotics: 14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011. Proceedings. editor / T.H. Li ; K.Y. Tu ; C.C. Tsai ; C.C. Hsu ; C.C. Tseng ; P. Vadakkepat ; J. Baltes ; J. Anderson ; C.C. Wong ; N. Jesse ; C.H. Kuo ; H.-C. Yang. Springer Berlin Heidelberg, 2011. pp. 50 - 57

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title = "A Novel Approach of Robust Active Compliance for Robot Fingers",

abstract = "In order to guarantee that the grasping robot fingers are to be safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active compliant control technique is proposed by employing an Integral sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can be introduced for robot fingers. The performance of the ISMC is validated for constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for the compliance interaction with objects of different softness and passive compliance. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in particular friction and stiction.",

author = "J Jalani and Khan, {Said G} and G Herrmann and CR Melhuish",

year = "2011",

doi = "10.1007/978-3-642-23147-6_7",

language = "English",

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pages = "50 -- 57",

editor = "T.H. Li and K.Y. Tu and C.C. Tsai and C.C. Hsu and C.C. Tseng and P. Vadakkepat and J. Baltes and J. Anderson and C.C. Wong and N. Jesse and C.H. Kuo and H.-C. Yang",

booktitle = "Next Wave in Robotics",

publisher = "Springer Berlin Heidelberg",

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}

Jalani, J, Khan, SG, Herrmann, G & Melhuish, CR 2011, A Novel Approach of Robust Active Compliance for Robot Fingers. in TH Li, KY Tu, CC Tsai, CC Hsu, CC Tseng, P Vadakkepat, J Baltes, J Anderson, CC Wong, N Jesse, CH Kuo & H-C Yang (eds), Next Wave in Robotics: 14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011. Proceedings. Springer Berlin Heidelberg, pp. 50 - 57. https://doi.org/10.1007/978-3-642-23147-6_7

A Novel Approach of Robust Active Compliance for Robot Fingers. / Jalani, J; Khan, Said G; Herrmann, G; Melhuish, CR.

Next Wave in Robotics: 14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011. Proceedings. ed. / T.H. Li; K.Y. Tu; C.C. Tsai; C.C. Hsu; C.C. Tseng; P. Vadakkepat; J. Baltes; J. Anderson; C.C. Wong; N. Jesse; C.H. Kuo; H.-C. Yang. Springer Berlin Heidelberg, 2011. p. 50 - 57.

Research output: Chapter in Book/Report/Conference proceeding › Chapter in a book

TY - CHAP

T1 - A Novel Approach of Robust Active Compliance for Robot Fingers

AU - Jalani, J

AU - Khan, Said G

AU - Herrmann, G

AU - Melhuish, CR

PY - 2011

Y1 - 2011

N2 - In order to guarantee that the grasping robot fingers are to be safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active compliant control technique is proposed by employing an Integral sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can be introduced for robot fingers. The performance of the ISMC is validated for constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for the compliance interaction with objects of different softness and passive compliance. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in particular friction and stiction.

AB - In order to guarantee that the grasping robot fingers are to be safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active compliant control technique is proposed by employing an Integral sliding Mode Control (ISMC). The ISMC allows us to use a model reference approach for which a virtual mass-spring damper can be introduced for robot fingers. The performance of the ISMC is validated for constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for the compliance interaction with objects of different softness and passive compliance. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in particular friction and stiction.

U2 - 10.1007/978-3-642-23147-6_7

DO - 10.1007/978-3-642-23147-6_7

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BT - Next Wave in Robotics

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A2 - Tsai, C.C.

A2 - Hsu, C.C.

A2 - Tseng, C.C.

A2 - Vadakkepat, P.

A2 - Baltes, J.

A2 - Anderson, J.

A2 - Wong, C.C.

A2 - Jesse, N.

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A2 - Yang, H.-C.

PB - Springer Berlin Heidelberg

ER -

Jalani J, Khan SG, Herrmann G, Melhuish CR. A Novel Approach of Robust Active Compliance for Robot Fingers. In Li TH, Tu KY, Tsai CC, Hsu CC, Tseng CC, Vadakkepat P, Baltes J, Anderson J, Wong CC, Jesse N, Kuo CH, Yang H-C, editors, Next Wave in Robotics: 14th FIRA RoboWorld Congress, FIRA 2011, Kaohsiung, Taiwan, August 26-30, 2011. Proceedings. Springer Berlin Heidelberg. 2011. p. 50 - 57 https://doi.org/10.1007/978-3-642-23147-6_7

A Novel Approach of Robust Active Compliance for Robot Fingers

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