Title :
On a two-level hierarchical structure for the dynamic control of multifingered manipulation
Author :
Casalino, Giuseppe ; Cannata, Giorgio ; Panin, Giorgio ; Caffaz, Andrea
Author_Institution :
DIST, Genova Univ., Italy
Abstract :
The problem of grasping and manipulating rigid objects using a multifingered robotic system is dealt with. A hierarchical two-level closed-loop trajectory tracking control strategy is presented in order to achieve the manipulation task, together with a complimentary force control, for object grasping, which makes use of a formulation of grasping forces decomposition.
Keywords :
Lyapunov methods; algebra; closed loop systems; dexterous manipulators; differential equations; force control; hierarchical systems; manipulator dynamics; position control; dynamic control; grasping forces decomposition; hierarchical two-level closed-loop trajectory tracking control strategy; multifingered manipulation; multifingered robotic system; object grasping; Fingers; Force control; Grasping; Kinematics; Level control; Manipulator dynamics; Robotics and automation; Robots; Stability; Tracking loops;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932533
