Comparison of object-level grasp controllers for dynamic dexterous manipulation

International Journal of Robotics Research

Volumn 31, Issue 1, 2012, Pages 3-23

  Wimböck, Thomas ^a   Ott, Christian ^a   Albu Schäffer, Alin ^a   Hirzinger, Gerd ^a  

^a GERMAN AEROSPACE CENTER DLR   (Germany)

Author keywords

Design and control; force control; grasping; manipulation; multi fingered hands

Indexed keywords

COMPUTATIONAL EFFORT; CONTROLLER DYNAMICS; COUPLING SPRINGS; DESIGN AND CONTROL; DEXTEROUS MANIPULATION; DEXTEROUS ROBOT HAND; DYNAMIC EFFECTS; FORCE DISTRIBUTIONS; GRASPING; HIGH-LEVEL INTERFACES; MANIPULATION; MANIPULATION TASK; MULTIFINGERED HANDS; PASSIVE CONTROLLERS; PSEUDO-INVERSES; VIRTUAL FRAME; VIRTUAL OBJECTS;

DAMPING; END EFFECTORS; FORCE CONTROL; ROBOTIC ARMS; STIFFNESS;

CONTROLLERS;

EID: 84856497046     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364911416526     Document Type: Article

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