Abstract
In this paper we present a novel approach to force planning during multi-fingered regrasping. Hybrid (discrete-continuous) system models are used for reference generation for the regrasping finger. An impedance control algorithm including a real-time applicable grasping force optimization method implements the regrasping task. Simulation results show the efficiency and simplicity of our approach to regrasping.
| Original language | English |
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| Pages | 131 |
| Number of pages | 1 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn Duration: 16 Jun 1997 → 20 Jun 1997 |
Conference
| Conference | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 |
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| City | Tokyo, Jpn |
| Period | 16/06/97 → 20/06/97 |