On rolling contact motion by robotic fingers via prescribed performance control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2013, Pages 3976-3981

  Doulgeri, Zoe ^a   Droukas, Leonidas ^a  

^a ARISTOTLE UNIVERSITY OF THESSALONIKI   (Greece)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT CONDITIONS; CONTACT MAINTENANCES; DEGREES OF FREEDOM ROBOTS; FAST CONVERGENCE; OBJECT MANIPULATION; PRESCRIBED PERFORMANCE; ROBOTIC FINGERTIP; ROLLING PERFORMANCE;

CONTROLLERS; FRICTION; ROBOTIC ARMS;

ROBOTICS;

EID: 84887291113     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2013.6631137     Document Type: Conference Paper

References (10)

1. A.Bicchi, "Hands for dexterous manipulation and robust grasping: A difficult road toward simplicity, " IEEE Transactions on Robotics And Automation, vol.16, no.6, pp.652-662, 2000.
2. H.Kawasaki, T.Komatsu, K.Uchiyama, and T.Kurimoto, "Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II, " IEEE International Conference on Systems, Man and Cybernetics, pp.782-787, 1999.
3. D.Zhao, L.Jiang, H.Huang, M.Jin, H.Cain, and H.Liu, "Development of a multi-dof anthropomorphic prosthetic hand, " IEEE International Conference on Robotics and Biomimetrics, pp.878-883, 2006.
4. S.Ueki, H.Kawasaki, T.Mouri, and A.Kaneshige, "Object manipulation based on robust and adaptive control by hemispherical soft fingertips, " IEEE International Federation of Automatic Control (IFAC), pp.14 654-14 659, 2011.
5. K.Tahara, S.Arimoto, and M.Yoshida, "Dynamic object manipulation using a virtual frame by a triple softfingerd robotic hand, " IEEE International Conference on Robotics and Automation, pp.4322-4327, 2010.
6. Fasoulas and Z.Doulgeri, "Active control of rolling manoeuvres of a robotic finger with hemispherical tip, " International Journal of Humanoid Robotics, vol.7, no.1, pp.183-212, 2010.
7. E.Paljug, X.Yun, and V.Kumar, "Control of rolling contacts in multi-arm manipulation, " IEEE Transactions on Robotics And Automation, vol.10, no.4, pp.441-452, 1994.
8. c.Bechlioulis and G.Rovithakis, "Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance, " IEEE Transactions on Automatic Control, vol.53, no.9, pp.2090-2099, 2008.
9. C.Bechlioulis, Z.Doulgeri, and G.Rovithakis, "Guaranteeing prescribed performance and contact maintenance via an approximation free robot force/position cotroller, " Automatica, vol.48, pp.360-365, 2012.
10. K.Tahara, S.Arimoto, Z.Luo, and M.Yoshida, "On control for "blind touching" by human-like thumb robots, " IEEE International Conference on Robotics and Automation, pp.592-598, 2007.