Iterative learning control for whole-arm object manipulation through coordination of torque/velocity-controlled fingers
- Resource Type
- Conference
- Authors
- Yashima, Masahito; Yamawaki, Tasuku
- Source
- 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on. :6223-6230 Sep, 2015
- Subject
- Aerospace
Bioengineering
Computing and Processing
Engineering Profession
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Iterative learning control
Torque
Robot kinematics
Modeling
Velocity control
Fingers
- Language
This paper proposes an iterative learning control scheme for whole-arm object manipulation by using a robotic hand system composed of a velocity-controlled finger and a torque-controlled finger. The novel iterative learning control scheme consists of the PD-type iterative learning control scheme for the velocity-controlled finger to follow the desired trajectory and the optimization-based iterative learning control scheme for the torque-controlled finger to maintain equilibrium. The switching between the two controllers is made to achieve compliant manipulation. The validity of the proposed scheme is demonstrated through experiments