Design and development of a new robot joint using a mechanical impedance adjuster

Toshio Morita, Shigeki Sugano

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

126 Citations (Scopus)

Abstract

The object of our work is to realize passive impedance on the joints of robot fingers by mechanical elements, as leaf springs and brakes, and to develop robot fingers which consists of the new mechanism, which can grasp objects softly. This paper presents a new joint mechanism named 'Mechanical Impedance Adjuster', and an impedance control method of robot finger joint by this mechanism. The effect of this method is shown by the experiment of the 1-D.O.F. finger model.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2469-2475
Number of pages7
DOIs
Publication statusPublished - 1995 Jan 1
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: 1995 May 211995 May 27

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume3
ISSN (Print)1050-4729

Other

OtherProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3)
CityNagoya, Jpn
Period95/5/2195/5/27

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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