Compliance control with vector decomposer using one-dimensional pressure sensor for robotic hand

摘要

Compliance control using tactile sensor for robotic hands have been one of the major research topics. Most researchers use a variety of multi-dimensional force sensors with compliance control. In this paper, we replace traditional multidimensional force/torque sensor with one-dimensional pressure sensor. In order to achieve the effect of multi-dimensional sensor, we also propose a vector decomposer to calculate the three-axes position error vector from one-dimensional position signal and make it works in position based impedance control. Finally, the performance of the vector decompose algorithm and compliance grasping are verified in simulation and experiment.