Estimation of Unknown Parameters for a Two-finger Independently Controlled Robotic Hand

We propose an estimator that estimates unknown parameters of a grasped object and the position and velocity of a two-finger independently controlled robotic hand. The proposed estimator consists of a coordinate transformation from the original system to an observable canonical form and applying Krei...

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Bibliographic Details
Main Authors: Kayaki, Shun, Fukui, Yoshiro
Format: Conference Proceeding
Language:English
Subjects:
Adaptive observer
Adaptive parameter estimation
Adaptive systems
Automation
Control systems
Estimation
Force sensors
Nonlinear observer
Observers
Precision estimation
Robot kinematics
Robustness
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Description
Summary:We propose an estimator that estimates unknown parameters of a grasped object and the position and velocity of a two-finger independently controlled robotic hand. The proposed estimator consists of a coordinate transformation from the original system to an observable canonical form and applying Kreisselmeier's observer. We demonstrate that the unknown parameters are estimated using the proposed estimator as the main theorem. The effectiveness of the proposed method was experimentally evaluated using an actual robotic hand.
ISSN:2642-3901
DOI:10.23919/ICCAS63016.2024.10773260