In-Hand Manipulation with Synergistic Actuated Robotic Hands: An MPC-Based Approach

Rohrmüller M, Beckerle P, Graichen K, Malvezzi M, Pozzi M (2024)

Publication Language: English

Publication Type: Conference contribution

Publication year: 2024

Publisher: IEEE Computer Society

Conference Proceedings Title: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)

Event location: Austin, TX

ISBN: 9798350303278

DOI: 10.1109/Humanoids57100.2023.10374563

Abstract

In-hand manipulation, or dexterous manipulation, is one of the most complex challenges in robotics as it requires the accurate coordination of multiple degrees of freedom. While several solutions have been presented for fully actuated hands, less work has focused on underactuated grippers. Synergies can be interpreted as a method for coupling joint motions, constraining the hand's degrees of freedom, and thereby reducing the number of control inputs. In this paper, we propose a model predictive control scheme (MPC) that integrates synergies to implement dexterous in-hand manipulation with robotic hands. In the MPC formulation, synergies can either be considered as constraints on the joint variables or are directly inserted in the system function with a reallocation of the input variables acting on the joints. Through several sets of simulations we compare these two approaches and show their main features.

Authors with CRIS profile

Martin Rohrmüller Lehrstuhl für Autonome Systeme und Mechatronik Philipp Beckerle Lehrstuhl für Autonome Systeme und Mechatronik Knut Graichen Chair of Automatic Control (LRT/AC)

Involved external institutions

Università degli Studi di Siena (UNISI) / University of Siena

Italy (IT)

How to cite

APA:

Rohrmüller, M., Beckerle, P., Graichen, K., Malvezzi, M., & Pozzi, M. (2023). In-Hand Manipulation with Synergistic Actuated Robotic Hands: An MPC-Based Approach. In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids). Austin, TX, US: IEEE Computer Society.

MLA:

Rohrmüller, Martin, et al. "In-Hand Manipulation with Synergistic Actuated Robotic Hands: An MPC-Based Approach." Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2023, Austin, TX IEEE Computer Society, 2023.

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