Experiment on impedance adaptation of under-actuated gripper using tactile array under unknown environment
نویسندگان
چکیده
منابع مشابه
New Robust Tracking Control for Safe Constrained Robots under Unknown Impedance Environment
In this paper, new sufficient conditions for safe motion/force tracking control of robotic systems under unknown environment are proposed. The asymptotic stability conditions are proved using a Lyapunov impedance approach and the relationship between the error dynamics of the robotic system and its energy. A 3DOF manipulator constrained to a circular trajectory is finally used to validate the s...
متن کاملGrasping Unknown Objects with Proprioception Using a Series-Elastic-Actuated Gripper
Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors to gain information about the object (e.g. vision, tactile, etc.) to building passively compliant hands that react appropriately to contact. In this paper, we focus on grasping unknown objects using proprioception (the combination of joint position and torque sensing). Our hypothe...
متن کاملChangeable Grasping Force Unit for Under-Actuated Gripper with Self-adaptive Grasping
The grasping force of traditional under-actuated hands can hardly be kept during grasping. It is a crucial task to improve the grasping forces of robotic hands. Changeable grasping forces unit is one of the most effective solutions. This paper proposed a linkage changeable grasping force (CGF) unit integrated with linkage under-actuation mechanism in accordance with summary of proceeding work o...
متن کاملDOA Estimation with Sparse Array under Unknown Mutual Coupling
In this paper, we propose a direction-of-arrival (DOA) estimation algorithm under unknown mutual coupling with a sparse linear array (SLA). We employ an SLA composed of two uniform linear arrays (ULA), and the element spacing of one of the subarrays is large enough to neglect the effect of the mutual coupling (MC). The fourth-order-cumulants (FOCs) of the received data from partial elements of ...
متن کاملOptimal Strategy under Unknown Stochastic Environment | Nonparametric Lob-Pass Problem
The bandit problem consists of two factors, one being exploration or the collection of information on the environment and the other being the exploitation or taking bene t by choosing the optimal action in the uncertain environment. It is necessary to choose only the optimal actions for the exploitation, while the exploration or collection of information requires to take a variety of (non-optim...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Science China Information Sciences
سال: 2018
ISSN: 1674-733X,1869-1919
DOI: 10.1007/s11432-017-9319-0