Port-Hamiltonian modeling for soft-finger manipulation

F. Ficuciello; R. Carloni; L. C. Visser; S. Stramigioli

doi:10.1109/IROS.2010.5650866

Port-Hamiltonian modeling for soft-finger manipulation

F. Ficuciello^*
, R. Carloni
, L. C. Visser
, S. Stramigioli

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

22 Citations (Scopus)

Abstract

In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach.

Original language	English
Title of host publication	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages	4281-4286
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2010.5650866
Publication status	Published - 2010
Externally published	Yes
Event	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan Duration: 18-Oct-2010 → 22-Oct-2010

Conference

Conference	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/Territory	Taiwan
City	Taipei
Period	18/10/2010 → 22/10/2010

Access to Document

10.1109/IROS.2010.5650866

Handle.net

Persistent link

Cite this

@inproceedings{e8a8a89f0f46493ea1cb4c2e4435e88d,

title = "Port-Hamiltonian modeling for soft-finger manipulation",

abstract = "In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach.",

author = "F. Ficuciello and R. Carloni and Visser, \{L. C.\} and S. Stramigioli",

year = "2010",

doi = "10.1109/IROS.2010.5650866",

language = "English",

isbn = "9781424466757",

pages = "4281--4286",

booktitle = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",

note = "23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 ; Conference date: 18-10-2010 Through 22-10-2010",

}

Ficuciello, F, Carloni, R, Visser, LC & Stramigioli, S 2010, Port-Hamiltonian modeling for soft-finger manipulation. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5650866, pp. 4281-4286, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, 18/10/2010. https://doi.org/10.1109/IROS.2010.5650866

TY - GEN

T1 - Port-Hamiltonian modeling for soft-finger manipulation

AU - Ficuciello, F.

AU - Carloni, R.

AU - Visser, L. C.

AU - Stramigioli, S.

PY - 2010

Y1 - 2010

N2 - In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach.

AB - In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach.

UR - https://www.scopus.com/pages/publications/78651507968

U2 - 10.1109/IROS.2010.5650866

DO - 10.1109/IROS.2010.5650866

M3 - Conference contribution

AN - SCOPUS:78651507968

SN - 9781424466757

SP - 4281

EP - 4286

BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010

Y2 - 18 October 2010 through 22 October 2010

ER -

Port-Hamiltonian modeling for soft-finger manipulation

Abstract

Conference

Access to Document

Handle.net

Other files and links

Fingerprint

Cite this