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Force position control for a pneumatic anthropomorphic hand

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4 Author(s)
Bierbaum, A. ; Inst. for Anthropomatics, Univ. of Karlsruhe (TH), Karlsruhe, Germany ; Schill, J. ; Asfour, T. ; Dillmann, R.

Robot hands based on fluidic actuators are a promising technology for humanoid robots due to their compact size and excellent power-weight-ratio. Yet, such actuators are difficult to control due to the inherent nonlinearities of pneumatic systems. In this paper we present a control approach based on a simplified model of the fluidic actuator providing force and position control and further fingertip contact detection. We have implemented the method on the microcontroller of the human hand sized FRH-4 robot hand with 8 DoF and present results of several experiments, including system response and force controlled operation.

Published in:

Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on

Date of Conference:

7-10 Dec. 2009