Modeling and Precision Motion Control of Dexterous Object In-Hand Rotation

Jiawei Li, Lu Lu, Cong Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the modeling and precision motion control of an important class of dexterous object in-hand rotation by three-fingered robot hand. First, we explicitly construct the planar friction model between the fingertip and the object. Then, to precisely regulate the object angle to its desired value while minimizing the deviation of the object center with respect to the fingertip, we propose a novel hybrid control structure consisting of two modules - regular tracking control module and the motion re-planning module. The proposed approach naturally mimics the human motor behavior when rotating an object to a desired angle by pushing and re-positioning the fingers. Finally, a simulation study is also performed by using a high-fidelity virtual physics engine 'MuJoCo' to verify the effectiveness of the proposed approach.

Original languageEnglish (US)
Title of host publicationProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages199-204
Number of pages6
ISBN (Electronic)9781538669594
DOIs
StatePublished - May 24 2019
Event2019 IEEE International Conference on Mechatronics, ICM 2019 - Ilmenau, Germany
Duration: Mar 18 2019Mar 20 2019

Publication series

NameProceedings - 2019 IEEE International Conference on Mechatronics, ICM 2019

Conference

Conference2019 IEEE International Conference on Mechatronics, ICM 2019
CountryGermany
CityIlmenau
Period3/18/193/20/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Human-Computer Interaction
  • Automotive Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Industrial and Manufacturing Engineering

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