Discrete-continuous control architecture for dextrous manipulation

Th Schlegl; M. Buss

Discrete-continuous control architecture for dextrous manipulation

Th Schlegl, M. Buss

Lehrstuhl für Steuerungs- und Regelungstechnik

TUM - Lehrstuhl für Architekturinformatik, Prof. Dr.-Ing. Frank Petzold

Publikation: Beitrag in Fachzeitschrift › Konferenzartikel › Begutachtung

6 Zitate (Scopus)

Abstract

This paper presents a hybrid discrete-continuous dynamical systems approach to multi-fingered grasping and regrasping. It is based on a hybrid modeling paradigm for multi-contact mechatronic systems. The three main components of our approach are a hybrid planning scheme for regrasping and hybrid error compensation, an on-line grasping force optimization algorithm, and a variable structure grasp impedance controller. Experimental results are presented to validate our approach to regrasping and to demonstrate the robustness improvement in grasping control.

Originalsprache	Englisch
Seiten (von - bis)	II-860 - II-865
Fachzeitschrift	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Jahrgang	2
Publikationsstatus	Veröffentlicht - 1999
Veranstaltung	1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn Dauer: 12 Okt. 1999 → 15 Okt. 1999

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abstract = "This paper presents a hybrid discrete-continuous dynamical systems approach to multi-fingered grasping and regrasping. It is based on a hybrid modeling paradigm for multi-contact mechatronic systems. The three main components of our approach are a hybrid planning scheme for regrasping and hybrid error compensation, an on-line grasping force optimization algorithm, and a variable structure grasp impedance controller. Experimental results are presented to validate our approach to regrasping and to demonstrate the robustness improvement in grasping control.",

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AU - Buss, M.

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AB - This paper presents a hybrid discrete-continuous dynamical systems approach to multi-fingered grasping and regrasping. It is based on a hybrid modeling paradigm for multi-contact mechatronic systems. The three main components of our approach are a hybrid planning scheme for regrasping and hybrid error compensation, an on-line grasping force optimization algorithm, and a variable structure grasp impedance controller. Experimental results are presented to validate our approach to regrasping and to demonstrate the robustness improvement in grasping control.

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M3 - Conference article

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JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

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Discrete-continuous control architecture for dextrous manipulation

Abstract

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