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 language | English |
|---|---|
| Pages (from-to) | 276-281 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| State | Published - 2000 |
| Event | ICRA 2000: IEEE International Conference on Robotics and Automation - San Francisco, CA, USA Duration: 24 Apr 2000 → 28 Apr 2000 |