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• W744679175 abstract "Conventionally, tendon-driven manipulators implement some force control scheme based on tension feedback. This feedback allows the system to ensure that the tendons are maintained taut with proper levels of tensioning at all times. Occasionally, whether it is due to the lack of tension feedback or the inability to implement sufficiently high stiffnesses, a position control scheme is needed. This work compares three position controllers for tendon-driven manipulators. A new controller is introduced that achieves the best overall performance with regards to speed, accuracy, and transient behavior. To compensate for the lack of tension feedback, the controller nominally maintains the internal tension on the tendons by implementing a two-tier architecture with a range-space constraint. These control laws are validated experimentally on the Robonaut-2 humanoid hand. I" @default.
• W744679175 created "2016-06-24" @default.
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• W744679175 date "2011-01-01" @default.
• W744679175 modified "2023-09-28" @default.
• W744679175 title "Position Control of Tendon-Driven Fingers" @default.
• W744679175 cites W1984995420 @default.
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• W744679175 hasPublicationYear "2011" @default.
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