Hybrid learning control techniques for the manipulation of rigid objects

The problem of dexterous manipulation of rigid objects is discussed. A formalism suitable for representing the space of the contact forces allowing a grasped object to perform an assigned motion is presented. The advantages that can be gained using such a formalism when robust grasping planning problems are dealt with are highlighted. The question of how manipulation dexterity in performing grasping actions could be attained in cases where possible repetitions of the planned task are somehow allowed is discussed. This is done on the basis of results concerning the so-called iterative learning hybrid control theory, extended to address robotic manipulation problems