Latest Papers

ASME Journal of Mechanisms and Robotics

  • Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
    on January 25, 2023 at 12:00 am

    AbstractAn enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees of freedom. The method exploits the concept of partitioning the independent coordinates into actuated and unactuated ones (through a QR-decomposition) and of linearly combined output, to obtain the internal dynamics of the nonminimum-phase system and then to stabilize it through proper output redefinition. Then, the exact algebraic model of the actuated sub-system is inverted, leading to the desired control forces with just minor approximations and no need for pre-actuation. The effectiveness of the proposed approach is assessed by three numerical test cases, by comparing it with some meaningful benchmarks taken from the literature. Finally, experimental verification through an underactuated robotic arm with two degrees of freedom is performed.

Algorithmic Fingertip Repositioning for Enhanced In-Hand Manipulation of the Objects


This article focuses on a method to relocate the robotic fingertips on the surface of the object when the fingertips instantaneously hold the object under precision grasp. Precision grasp involves holding the object using fingertips. Finger gaiting involves repositioning the fingertips on the surface of the object and then manipulation of the object. During repositioning, one contact point leaves the object surface and recontacts at the other point. A metric is defined on the set of feasible grasp configurations to limit deviation from force closure during repositioning of the fingertips. Then, a manipulability-based metric is described to search for the optimal goal grasp states on the object’s surface. The manipulability-based metric is used to search the grasp state to relocate the contacts, such that the range of object motion is increased.

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