Discrete-continuous control approach to dextrous manipulation

Martin Buss, Thomas Schlegl

Research output: Contribution to journalConference articlepeer-review

11 Scopus citations

Abstract

In this paper we present a control approach to dextrous manipulation based on a hybrid (discrete-continuous) dynamical system model. The discrete event aspect is the grasp state specifying whether fingers are in contact or not. The three components of the proposed discrete-continuous control approach to (re)grasping are a hybrid planning scheme for regrasping and discrete grasp state error compensation, an efficient grasping force optimization algorithm, and a variable structure grasp impedance controller. Experimental results are presented to validate the approach.

Original languageEnglish
Pages (from-to)276-281
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
StatePublished - 2000
EventICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA
Duration: 24 Apr 200028 Apr 2000

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