Arm
low intrinsic damping of passive elasticities: oscillatory dynamics
=> active damping control by state feedback control and system flatness property
combination of active control with passive elasticities to increase the stiffness range
=> active/passive Cartesian Impedance control scheme
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Disturbance damping |
Active/passive impedance control |
Hand
- anthropomorphic kinematic offers excellent grasping capabilities
- flexible tendons provide impressive robustness but require complex control scheme
- internal forces can modulate the joint stiffness but must satisfy the torque and pulling constraints
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Non-linear thumb control |
Grasping synergies |
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VIDEOS:
Active damping control:
http://youtu.be/nw_PRZeiNs8