Skip to main content
SpringerLink
Log in

Experiment on Impedance Adaptation for an Under-Actuated Gripper Grasping an Unknown Object with Tactile Sensing

  • Conference paper
  • First Online:
Cognitive Systems and Signal Processing (ICCSIP 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 710))

Included in the following conference series:

  • 2068 Accesses

Abstract

This paper presents an experiment on impedance adaptation for an under-actuated gripper grasping an unknown object. Under-actuated gripper has broad applications in the field of industrial robotics and on-orbit services because of its better self-adaption. However, subject to uncertain characteristics of the object, it is difficult for an under-actuated gripper to achieve stable grasp. To address this problem, this paper develops impedance adaptation for an under-actuated gripper manipulation with the tactile sensing. A cost function that measures the contact force, velocity and positioning errors of the contact point is defined and the critical impedance parameters are determined that minimize it; this adaptation is feasible for an under-actuated gripper to guarantee a stable grasp without requiring information on the object dynamics. Finally, an experimental setup is established to verify the validity of the proposed method. The experimental results demonstrate that the under-actuated gripper can stably grasp an unknown object.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Kragten, A., van der Helm, F.C.T., Herder, J.L.: A planar geometric design approach for a large grasp range in underactuated hands. Mech. Sci. 46, 1121–1136 (2011)

    MATH  Google Scholar 

  2. Birglen, L., Gosselin, C.M.: On the force capability of underactuated fingers. In: Proceedings of IEEE International Conference on Robotics and Automation (2003)

    Google Scholar 

  3. Tiwana, M.I., Shashank, A., Redmond, S.J., Lovell, N.H.: Characterization of a capacitive tactile shear sensor for application in robotic and upper limb prostheses. Sens. Actuators A, Phys. 165(29), 164–172 (2011)

    Article  Google Scholar 

  4. Hogan, N.: Impedance control: an approach tomanipulation-part i: theory; part ii: implementation; part iii: applications. Trans. ASME J. Dyn. Syst. Measur. Control 107, 17–24 (1985)

    Article  Google Scholar 

  5. Xu, Q.S.: Robust impedance control of a compliant microgripper for high-speed position/force regulation. IEEE Trans. Ind. Electron. 62(2), 1201–1209 (2015)

    Article  Google Scholar 

  6. Li, M., Hang, K.Y., Kragic, D., Billard, A.: Dexterous grasping under shape uncertainty. Rob. Auton. Syst. 75(Part B), 352–364 (2016)

    Article  Google Scholar 

  7. Colbaugh, R., Seraji, H., Glass, K.: Direct adaptive impedance control of manipulators. J. Rob. Syst. 10(2), 217–248 (1991)

    Article  MATH  Google Scholar 

  8. Stanisic, R.Z., Fernandez, A.V.: Adjusting the parameters of the mechanical impedance for velocity, impact and force control. Robotica 30(4), 583–597 (2012)

    Article  Google Scholar 

  9. Ge, S.S., Li, Y.N., Wang, C.: Impedance adaptation for optimal robot–environment interaction. Int. J. Control 87(2), 249–263 (2013)

    Article  MathSciNet  MATH  Google Scholar 

  10. Tsumugiwa, T., Yokogawa, R., Hara, K.: Variable impedance control based on estimation of human arm stiffness for human-robot cooperative calligraphic task. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 644–650 (2002)

    Google Scholar 

  11. Johansson, R., Spong, M.W.: Quadratic optimization of impedance control. In: Proceedings of IEEE International Conference of Robotics and Automation, pp. 616–621 (1994)

    Google Scholar 

  12. Jiang, Y., Jiang, Z.P.: Computational adaptive optimal control for continuous-time linear systems with completely unknown dynamics. Automatica 48, 2699–2704 (2012)

    Article  MathSciNet  MATH  Google Scholar 

  13. Kim, B., Park, J., Park, S., Kang, S.: Impedance learning for robotic contact tasks using natural actor-critic algorithm. IEEE Trans. Syst. Man Cybern.-Part B: Cybern. 40, 433–443 (2010)

    Article  Google Scholar 

  14. Chu, Z.Y., Hu, J., Lei, Y.A.: An adaptive gripper of space robot for space on-orbit services, CN 201310326633.7, China patent (2013)

    Google Scholar 

  15. Zhou, M., Chu, Z.Y.: Impedance joint torque control of an active-passive composited driving self-adaptive end effector for space manipulator. In: Proceedings of the 11th World Congress on Intelligent Control and Automation, Shenyang, China (2014)

    Google Scholar 

  16. Liu, Y.J., Ding, F.: Convergence properties of the least squares estimation algorithm for multivariable systems. Appl. Math. Modell. 37, 476–483 (2013)

    Article  MathSciNet  MATH  Google Scholar 

Download references

Acknowledgements

This work is supported by the Natural Science Foundation of China (Grant Nos. 51375034 and 61327809).

Author information

Authors and Affiliations

  1. School of Instrument Science and Opto-Electronics Engineering, Beihang University, Beijing, 100191, China

    Shaobo Yan & Zhongyi Chu

  2. Department of Computer Science and Technology, Tsinghua University, Beijing, China

    Fuchun Sun

Authors
  1. Shaobo Yan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhongyi Chu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Fuchun Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Shaobo Yan .

Editor information

Editors and Affiliations

  1. Tsinghua University, Beijing, China

    Fuchun Sun

  2. Department of Computer Science and Technology, Tsinghua University, Beijing, China

    Huaping Liu

  3. College of Mechatronics and Automation, National University of Defense Technology, Changsha, China

    Dewen Hu

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer Nature Singapore Pte Ltd.

About this paper

Cite this paper

Yan, S., Chu, Z., Sun, F. (2017). Experiment on Impedance Adaptation for an Under-Actuated Gripper Grasping an Unknown Object with Tactile Sensing. In: Sun, F., Liu, H., Hu, D. (eds) Cognitive Systems and Signal Processing. ICCSIP 2016. Communications in Computer and Information Science, vol 710. Springer, Singapore. https://doi.org/10.1007/978-981-10-5230-9_27

Download citation

  • DOI: https://doi.org/10.1007/978-981-10-5230-9_27

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-5229-3

  • Online ISBN: 978-981-10-5230-9

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation