Abstract
Aiming at the problem of contact force control of objects with different dynamic characteristics in the process of hand-object interaction of dexterous hands, this paper proposes a contact force control algorithm of dexterous hands based on admittance control, which combines the adaptive rate of admittance parameters and takes the calculation amount of environmental (grasping object) dynamic model as feedforward input. In the process of interaction between hands and objects, the adaptability of objects is maintained to achieve the flexible grasp of objects with different dynamic characteristics. In addition, in order to deploy the control algorithm in the actual physical system, this paper designs and develops the layered control system of multi-fingered dexterous hand. Finally, in order to verify the effectiveness of the control algorithm and control system studied in this paper, Experiments were designed for multi-sensor data acquisition, joint Angle closed-loop control, fingertip Cartesian space pose control and contact force control of objects with different dynamic characteristics. The experimental results show that the control system studied in this paper can collect data from the multi-sensor system of the multi-fingered dexterous hand, and can conduct closed-loop control of joint Angle and fingertip pose according to the data acquisition results. In addition, the control effect of contact force between the dexterous finger end and objects with different dynamic characteristics is verified by experiments. Thus, the effectiveness of position control and force control algorithms for dexterous hands is verified.
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Acknowledgments
This work was supported by the Key Research and Development Program of Zhejiang (Grand No. 2021C04015), Zhejiang Provincial Natural Science Foundation of China (Grand No. LZ23E050005, Q23E050071) and the Fundamental Research Funds for the Provincial Universities of Zhejiang (Grand No. RF-C2019004).
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Wu, C., Wang, Z., Zhang, Y., Ma, X., Meng, H., Bao, G. (2023). Dexterous Hand-Object Interaction Control Based on Adaptive Impedance Algorithm. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_1
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DOI: https://doi.org/10.1007/978-981-99-6489-5_1
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