Grip-force control of an elastic object by vision-based slip-margin feedback during the incipient slip

IEEE Transactions on Robotics

Volumn 21, Issue 6, 2005, Pages 1139-1147

  Ueda, Jun ^a   Ikeda, Atsutoshi ^a,b   Ogasawara, Tsukasa ^a  

^a NARA INSTITUTE OF SCIENCE AND TECHNOLOGY   (Japan)

^b YAMAHA MOTOR CO   (Japan)

Author keywords

Elastic object; Grip force control; Hertzian contact; Incipient slip; Visual feedback

Indexed keywords

CAMERAS; COMPUTER VISION; DEGREES OF FREEDOM (MECHANICS); ELASTICITY; FEEDBACK CONTROL; FORCE CONTROL; OBJECT RECOGNITION; RIGIDITY; SYSTEM STABILITY;

ELASTIC OBJECT; GRIP-FORCE CONTROL; INCIPIENT SLIP; VISION-BASED SLIP-MARGIN FEEDBACK;

GRIPPERS;

EID: 29844437094     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2005.853496     Document Type: Article

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