Biphasic Media Actuation Control and Application for Robotics Hand
A major application today is in robotic systems expected to interact safely and friendly with humans and the environment.This paper presents a novel approach and concept of soft actuator- variable impedance actuator using a combination of fluid and gas to realize the adaptation of the position and stiffness.Because of the high power density and exclusive design,the actuator can be realized with the architecture of a common hydraulic piston in micro and meso-scale.A linear rotation link model of the actuator is presented and the robotics finger as well as hand combined with variable impedance actuator are proposed.The novel schematic and impedance control formulation of robotics hand are built.The dual PID controller and adaptive fuzzy controller are presented.The VIAs application prototype garment gripper gives the example that the variable impedance actuator can realize the soft actuation.
Biphasic Media Variable Impedance Actuation Robotics Hand
Bo Han Matteo Zoppi Rezia Molfino
PMAR Robotics,University of Genova,Via Opera Pia 15A,GE,Italy
国际会议
天津
英文
1-7
2014-07-06（万方平台首次上网日期，不代表论文的发表时间）