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Biagiotti L , Tiezzi P., Vassura G., Melchiorri C.
"Robotic Interaction Through Compliant Interfaces: Modelling and Identification"
 
Type Conference
Author(s) Biagiotti L , Tiezzi P., Vassura G., Melchiorri C.
Title Robotic Interaction Through Compliant Interfaces: Modelling and Identification
Editor 44th IEEE Conference on Decision and Control, CDC'05
Keywords Robotic manipulation, Identification, Quasi-linear model,
Abstract
In this work, a new model, able to emulate the interaction of a robot with the environment when viscoelastic phenomena occur, is presented. The starting point of this research activity has been the study of soft pads for dexterous manipulation but the results obtained are applicable to all situations which foresee the interaction of a robotic manipulator through/with a viscoelastic medium (e.g. robotic surgery). Based on the so called quasi-linear model, adopted to describe the behavior of human hand pads and, more generally, of biological tissues, this model allows to overcome the problems tied to classical (linear) models, often used in the robotic field. A procedure aiming to obtain the parameters of this nonlinear model (which belongs to the class of Hammerstein models) is developed on the basis of classical identification methods and of physical insights. Finally, through experimental tests on some viscoelastic materials (a polyurethane gel and a silicon rubber) the model is validated.
Year 2005


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