DocumentCode
2356300
Title
Dextrous hand regrasping using hybrid system models
Author
Schlegl, T. ; Buss, M.
Author_Institution
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany
fYear
1997
fDate
20-20 June 1997
Firstpage
131
Abstract
Summary form only given. In this paper we present a novel approach to force planning during multifingered regrasping. Hybrid (discrete-continuous) system models are used for reference generation for the regrasping finger. An impedance control algorithm including a real-time applicable grasping force optimization method implements the regrasping task. Simulation results show the efficiency and simplicity of our approach to regrasping.
Keywords
force control; manipulators; optimisation; real-time systems; dextrous hand regrasping; discrete-continuous system models; force planning; hybrid system models; impedance control algorithm; multifingered regrasping; real-time applicable grasping force optimization method; reference generation; regrasping finger; Automata; Automatic control; Fingers; Force control; Friction; Grasping; Impedance; Optimization methods; Robot kinematics; World Wide Web;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on
Conference_Location
Tokyo, Japan
Print_ISBN
0-7803-4080-9
Type
conf
DOI
10.1109/AIM.1997.653002
Filename
653002
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