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FIRA RoboWorld Congress

FIRA 2011: Next Wave in Robotics pp 50–57Cite as

A Novel Approach of Robust Active Compliance for Robot Fingers

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Part of the book series: Communications in Computer and Information Science ((CCIS,volume 212))

Abstract

In order to guarantee that grasping with robot fingers are safe when interacting with a human or a touched object, the robot fingers have to be compliant. In this study, a novel active and robust 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 to enable compliant control. The performance of the ISMC is validated for the constrained underactuated BERUL (Bristol Elumotion Robot fingers) fingers. The results show that the approach is feasible for compliance interaction with objects of different softness. Moreover, the compliance results show that the ISMC is robust towards nonlinearities and uncertainties in the robot fingers in particular friction and stiction.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Bristol, Queen’s Building University Walk Bristol, BS8 1TR, UK

    Jamaludin Jalani, Guido Herrmann & Chris Melhuish

  2. Bristol Robotics Laboratory (BRL) DuPont Building Bristol Business Park Bristol, BS16 1QD, UK

    Jamaludin Jalani, Said Ghani Khan, Guido Herrmann & Chris Melhuish

  3. University of the West of England Coldharbour Lane Frenchay Bristol, BS16 1QY, UK

    Said Ghani Khan & Chris Melhuish

Authors
  1. Jamaludin Jalani
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  2. Said Ghani Khan
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  3. Guido Herrmann
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  4. Chris Melhuish
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, National Cheng Kung University, No. 1, University Road, 701, Tainan City, Taiwan

    Tzuu-Hseng S. Li

  2. National Kaohsiung First University of Science and Technology, 2 Juoyue Road, 40227, Taichung, Taiwan

    Kuo-Yang Tu

  3. Department of Electrical Engineering, Nationan Chung Hsing University, No. 250, Kuo-Kuang Road, 40227, Taichung, Taiwan

    Ching-Chih Tsai

  4. Department of Applied Electronics Technology, National Taiwan Normal University, 162 He-Ping East Road, Section 1, 10610, Taipei, Taiwan

    Chen-Chien Hsu

  5. National Kaohsiung First University of Science and Technology, 2 Juoyue Road, Nantsu District, 811, Kaohsiung City, Taiwan

    Chien-Cheng Tseng

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

  7. Department of Computer Science,, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    Jacky Baltes

  8. Department of Computer Science, University of Manitoba, R3T 2N2, Winnipeg, Manitoba, Canada

    John Anderson

  9. Tamkang University, Taipei, Taiwan

    Ching-Chang Wong

  10. Technische Universität Dortmund, Dortmund, Germany

    Norbert Jesse

  11. Department of Electrical Engineering, National Taiwan University of Science and Technology, 43, Sec. 4, Keelung Rd., 106, Taipei, Taiwan

    Chung-Hsien Kuo

  12. Institute of System Information and Control, National Kaohsiung First University of Science and Technology, 2 Juoyue Road, Nantsu District, 811, Kaohsiung City, Taiwan

    Haw-Ching Yang

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© 2011 Springer-Verlag Berlin Heidelberg

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Jalani, J., Khan, S.G., Herrmann, G., Melhuish, C. (2011). A Novel Approach of Robust Active Compliance for Robot Fingers. In: Li, TH.S., et al. Next Wave in Robotics. FIRA 2011. Communications in Computer and Information Science, vol 212. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23147-6_7

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  • DOI: https://doi.org/10.1007/978-3-642-23147-6_7

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-23146-9

  • Online ISBN: 978-3-642-23147-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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