A multi-fingered hand control structure with on-line grasping force optimization

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 2, Issue , 2001, Pages 804-809

  Remond, C ^a   Perdereau, V ^a   Drouin, M ^a  

^a SORBONNE UNIVERSITÉ   (France)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; FORCE CONTROL; MATHEMATICAL TRANSFORMATIONS; MECHATRONICS; NONLINEAR PROGRAMMING; OPTIMIZATION;

GRASPING FORCES;

MANIPULATORS;

EID: 0034870240     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (23)

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9. Coordinated dynamic hybrid position/force control for multiple robot manipulators handling one constrained object
10. Event-based planning and control for multi-robot coordination
11. Planning quasi-static motions for re-configuring objects with a multi-fingered robotic hand
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13. On the closure properties of robotic grasping
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15. On the grasping stability and optimality under external perturbations
16. Efficient algorithm for optimal force distribution - The compact-dual LP method
17. Force distribution by optimizing friction angles for multifinger system
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19. Computing of the sub-optimal grasping forces for manipulation of a rough object by multi-fingered robot hand
20. Virtual truss model for characterization of internal forces for multiple finger grasps
21. Design of a hybrid external structure for a multi-fingered hand
22. Hybrid external control for two robots coordinated motion
23. Hybrid position/force control for multi-fingered robot hand