On a two-level hierarchical structure for the dynamic control of multifingered manipulation

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2001, Pages 77-84

  Casalino, Giuseppe ^a   Cannata, Giorgio ^a   Panin, Giorgio ^a   Caffaz, Andrea ^a  

^a UNIVERSITY OF GENOA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; DIFFERENTIAL EQUATIONS; FORCE CONTROL; HIERARCHICAL SYSTEMS; KINEMATICS; MATHEMATICAL TRANSFORMATIONS; MATRIX ALGEBRA; MOTION CONTROL;

MOTION TRACKING; MULTIFINGERED MANIPULATION;

ROBOTICS;

EID: 0034868183     PISSN: 10504729     EISSN: None     Source Type: Journal    
DOI: 10.1109/ROBOT.2001.932533     Document Type: Article

References (8)

1. Dynamics and stability in coordination of multiple robotic mechanisms
2. Contact Force Canonical Decomposition and the Role of Internal Forces in Robust Grasp Planning Problems
3. The kinematics of contact and grasp
4. A unified approach for motion and force control of robot manipulators: The operational space formulation