DocumentCode
3198945
Title
Multi-fingered regrasping using on-line grasping force optimization
Author
Buss, Martin ; Schlegl, Thomas
Author_Institution
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany
Volume
2
fYear
1997
fDate
20-25 Apr 1997
Firstpage
998
Abstract
Buss et al. previously (1995, 1996) presented a real-time applicable grasping force optimization scheme for stable dextrous grasping. The authors present a novel approach to planning multifingered 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
Keywords
force control; optimal control; path planning; real-time systems; impedance control law; multifingered regrasping planning; online grasping force optimization; real-time applicable grasping force optimization scheme; robots; smooth grasping force transitions; stable dextrous grasping; Automatic control; Constraint optimization; Cost function; Fingers; Force control; Friction; Grasping; Impedance; Optimization methods; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.614265
Filename
614265
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