A Novel Approach of Robust Active Compliance for Robot Fingers

  • Jamaludin Jalani
  • Said Ghani Khan
  • Guido Herrmann
  • Chris Melhuish
Part of the Communications in Computer and Information Science book series (CCIS, volume 212)


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.


Integral Sliding Mode Controller Active Compliance Control Underactuated Robot Fingers Robust Control 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Jamaludin Jalani
    • 1
    • 2
  • Said Ghani Khan
    • 2
    • 3
  • Guido Herrmann
    • 1
    • 2
  • Chris Melhuish
    • 1
    • 2
    • 3
  1. 1.Department of Mechanical EngineeringUniversity of Bristol, Queen’s Building University Walk BristolUK
  2. 2.Bristol Robotics Laboratory (BRL) DuPont Building Bristol Business Park BristolUK
  3. 3.University of the West of England Coldharbour Lane Frenchay BristolUK

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