Discrete-continuous control architecture for dextrous manipulation

Th Schlegl, M. Buss

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations

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 languageEnglish
Pages (from-to)II-860 - II-865
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume2
StatePublished - 1999
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 12 Oct 199915 Oct 1999

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