Friction Estimation for Tendon-Driven Robotic Hands
Friedrich Lange Martin Pfanne Franz Steinmetz Sebastian Wolf Freek Stulp Friedrich Lange Martin Pfanne Franz Steinmetz Sebastian Wolf Freek Stulp
In tendon-driven robotic hands, tendons are usually routed along several pulleys. The resulting friction is often substantial, and must therefore be modelled and estimated, for instance for accurate control and contact detection. Common approaches for friction estimation consider special dedicated setups, where the parameters of a static or dynamic friction model at a single contact point are dete...