Abstract
A common approach to control multi-fingered grippers during stable grasping is the stiffness control scheme. 'Internal' stiffness parameters and suitable references for internal grasping forces-often determined heuristically-ensure a stable grasp. In this paper, optimal internal forces are obtained in real-time by linearly constrained gradient flows on the smooth manifold of positive definite matrices. This optimization approach is a generic one for any number of fingers in contact with the object. Experiments with the 3-fingered Darmstadt hand show the simplicity and efficiency of the approach.
| Original language | English |
|---|---|
| Pages (from-to) | 1807-1812 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - 1996 |
| Event | Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: 22 Apr 1996 → 28 Apr 1996 |