Precise In-Hand Motion Control of Objects Using Soft Actuators and Visual Feedback
| Autor: | Mingzhu Zhu, Hyejong Kim, Sadao Kawamura, Yoshiki Mori, Akira Wada |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry GRASP Soft robotics 02 engineering and technology 021001 nanoscience & nanotechnology Object (computer science) 020901 industrial engineering & automation Grippers Orientation (geometry) Robot Torque Computer vision Artificial intelligence 0210 nano-technology Actuator business |
| Zdroj: | AIM |
| DOI: | 10.1109/aim.2018.8452309 |
| Popis: | Soft robots are expected to resolve problems faced by highly rigid robots, grasping objects of varied shape, for example. In this paper, we propose a soft robotic hand that grasps objects of various shapes and realizes high-precision manipulation of the grasped objects. This soft robotic hand has four pneumatically-driven soft actuators in its grasp and these soft actuators are made on a multi-material 3D printer which can print in both soft and hard materials. For high-precision object manipulation, we also propose a robust visual feedback control. This control is realized by estimating a linear relationship between forces/torques generated on the grasped object and inputs of the soft actuators. By using this proposed method, vertical plane manipulation of the grasped object is realized. As a result, position and orientation errors, when using this method, are about 0.30 mm and about 0.03 rad. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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