Compliant multi-fingered passively adaptive robotic gripper

Petković, Dalibor; Pavlović, Nenad D.

doi:10.1108/mmms-11-2012-0017

Cited by 5 publications

(2 citation statements)

References 30 publications

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“…25 The feedback linearization method proposed by Palli et al 26 has been proven effective in controlling both the link motion and the desired stiffness in a compliant joint with antagonistic actuators. Petković proposed the passively compliant finger embedded sensors in its structure, 27,28 and utilized the adaptive neuro-fuzzy inference system to achieve contact position detection, 29 determine the most strained joint 30 and predict the contact forces. 31 However, these methods do not propose general controllability conditions for the contact constraint problems.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators

Wei

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

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A robot system would inevitably cause unpredictable collisions in an unknown or unstructured environment. In this paper, the controllability conditions of a general robot system with compliant actuators are proposed to judge and assess the contact constraints based on Port-based Hamiltonian. In order to satisfy the proposed controllability conditions, one fuzzy coordinated control method inspired from the pathfinding of a blind or normal person in dark environment is proposed to deal with the problem of contact constraint. This method achieves velocity-torque combined control without using force or vision sensors compared with conventional methods. Finally, the experiments validate the feasibility of the controllability conditions to deal with contact constraint problems. The results show that the fuzzy coordinated controller can work more efficiently and effectively to detect and respond to contact constraints compared with the proposed proportional control.

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Section: Introductionmentioning

confidence: 99%

Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators

Wei

2016

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…L ( P )/ S ( P ) is related to the stress–strain laws. Petković and coworkers established an adaptive neurofuzzy inference system model to predict the stress–strain changing of conductive silicone rubber during compression tests. Yi et al .…”

Section: Introductionmentioning

confidence: 99%

Transfer function and working principle of a pressure/temperature sensor based on carbon black/silicone rubber composites

Liu

Huang

et al. 2015

J of Applied Polymer Sci

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Pressure/temperature sensitive silicon rubber (SR) filled with carbon black (CB) was prepared by a liquid mixing method. The transfer function of a pressure/temperature sensor based on CB/SR was derived by general effective media theory. The results show that the transfer functions coincided well with the experimental data, and the negative pressure coefficient of the resistance/positive temperature coefficient of resistance are shown. The working principles of these two kinds of sensors are different. The working principle of the pressure sensor based on CB/SR was related to the volume fraction of CB. With increasing volume fraction of CB, the working principle of this kind of pressure sensor varied from a piezo-resistive effect to a strain effect. In addition, the working principle of the temperature sensor based on CB/SR was that the resistivity changed with temperature; this was not related to the volume fraction of CB.

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Online walking control system for biped robot with optimized learning mechanism: an experimental study

Yang

Zhang

2016

Nonlinear Dyn

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Compliant multi-fingered passively adaptive robotic gripper

Cited by 5 publications

References 30 publications

Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators

Fuzzy coordinated control of contact constraint problem for robot system with compliant actuators

Transfer function and working principle of a pressure/temperature sensor based on carbon black/silicone rubber composites

Online walking control system for biped robot with optimized learning mechanism: an experimental study

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