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.
Original language | English |
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Pages (from-to) | II-860 - II-865 |
Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
Volume | 2 |
State | Published - 1999 |
Event | 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn Duration: 12 Oct 1999 → 15 Oct 1999 |