Learning motion of dexterous manipulation for a pair of multi-DOF fingers with soft-tips

Pham Thuc Anh Nguyen; Suguru Arimoto

首页> 外文期刊>Asian Journal of Control: Affiliated with ACPA, the Asian Control Professors' Association >Learning motion of dexterous manipulation for a pair of multi-DOF fingers with soft-tips

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Learning motion of dexterous manipulation for a pair of multi-DOF fingers with soft-tips

机译：Learning motion of dexterous manipulation for a pair of multi-DOF fingers with soft-tips

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摘要

This paper shows that a pair of dual multi-DOF fingers with soft-tips can learn iteratively a desired periodic motion of manipulation of an object if sensory feedback signals are designed adequately. It is shown that dynamics of the overall fingers and object system satisfy passivity but residual error dynamics for a given periodic posture of the object and a fixed value of contact force satisfy output-dissipativity only in an approximate sense. Numerical simulation results are presented which show that the pair of fingers manipulating an object is capable of learning iteratively a variety of dexterous motions with a good performance.

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来源
《Asian Journal of Control: Affiliated with ACPA, the Asian Control Professors' Association》 |2002年第1期|11-20|共10页
作者
Pham Thuc Anh Nguyen; Suguru Arimoto;
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作者单位

Department of Applied Physics and Advanced Technologies (FATA), National Autonomous University of Mexico, A.P. 1-1010, Queretaro, Qro. 67000, Mexico;

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原文格式 PDF
正文语种英语
中图分类自动控制理论;
关键词
Iterative learning control; Output-dissipativity; Soft fingertip; Dual fingers;

Learning motion of dexterous manipulation for a pair of multi-DOF fingers with soft-tips

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