Development of a Multi-fingered Robotic Hand and Its Compliance Control using F/T Sensors at Fingertips

Title
Development of a Multi-fingered Robotic Hand and Its Compliance Control using F/T Sensors at Fingertips
Authors
김성균조준희오용환오상록
Keywords
Robotic hand; Compliance control; F/T sensor
Issue Date
2011-11
Publisher
The 15th International Conference on Mechatronics Technology (ICMT 2011)
Abstract
There have been great improvements in hardware of robotic hands, but many of them as well as KISTHand which is a multi-fingered hand developed in KIST are still adopting position servo system due to the size limit. In this paper, compliant grasping controller for position controlled robotic hand using F/T sensors at fingertips are proposed. Raw signals of F/T sensors are process by a lowpass filter and gravity effect compensator for fingertip mass, and used in the compliance controller. The control torque input from the controller is converted to a desired joint position. Experiments with KISTHand is also conducted to validate the proposed method, and showed complacent results.
URI
http://pubs.kist.re.kr/handle/201004/41046
Appears in Collections:
KIST Publication > Conference Paper
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