TY - GEN
T1 - Hybrid closed-loop control of robotic hand regrasping
AU - Schlegl, Thomas
AU - Buss, Martin
N1 - Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - In this paper we propose an approach to model a robotic hand as a hybrid discrete-continuous dynamical system. The discrete event aspect is the grasp state specifying whether fingers are in contact or not. The hybrid approach yields a comprehensive model of a closed-hoop controller for dextrous (re)grasping. Insights in the closed-loop behavior and compensation strategies for discrete state errors due to object geometry modeling errors are presented. Simulations validate the hybrid systems approach to regrasping.
AB - In this paper we propose an approach to model a robotic hand as a hybrid discrete-continuous dynamical system. The discrete event aspect is the grasp state specifying whether fingers are in contact or not. The hybrid approach yields a comprehensive model of a closed-hoop controller for dextrous (re)grasping. Insights in the closed-loop behavior and compensation strategies for discrete state errors due to object geometry modeling errors are presented. Simulations validate the hybrid systems approach to regrasping.
UR - https://www.scopus.com/pages/publications/0031620705
U2 - 10.1109/ROBOT.1998.680890
DO - 10.1109/ROBOT.1998.680890
M3 - Conference contribution
AN - SCOPUS:0031620705
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3026
EP - 3031
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -