Abstract
A real-time applicable grasping force optimization scheme for stable dextrous grasping has been proposed earlier. In this paper we present a novel approach to planning multi-fingered regrasping based on a modification of the optimization algorithm. This novel algorithm allows for smooth grasping force transitions during regrasping tasks. The optimization scheme is implemented combined with an impedance control law. Simulation results show the efficiency and simplicity of our approach to regrasping.
| Original language | English |
|---|---|
| Pages (from-to) | 998-1003 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: 20 Apr 1997 → 25 Apr 1997 |