Comparison between Admittance and Impedance Control Method of a Finger-Arm Robot during Grasping Object with Internal and External Impedance Control

Grasping is a basic task for human beings. It is also important for robot systems to achieve a soft grasping from a safety point of view particularly for interaction between robots and human beings. Key issue to realize the soft grasping depends on both admittance and impedance control. However, both control method characteristics have not been compared under same experimental conditions. The purpose of this note gives comparison results of both control methods under the same experimental condition.