Title :
Multi-fingered regrasping using on-line grasping force optimization
Author :
Buss, Martin ; Schlegl, Thomas
Author_Institution :
Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany
Abstract :
Buss et al. previously (1995, 1996) presented a real-time applicable grasping force optimization scheme for stable dextrous grasping. The authors present a novel approach to planning multifingered regrasping based on a modification of the optimization algorithm. This novel algorithm allows for smooth grasping force transitions during regrasping tasks. The optimization scheme is implemented combined with an impedance control law. Simulation results show the efficiency and simplicity of our approach to regrasping
Keywords :
force control; optimal control; path planning; real-time systems; impedance control law; multifingered regrasping planning; online grasping force optimization; real-time applicable grasping force optimization scheme; robots; smooth grasping force transitions; stable dextrous grasping; Automatic control; Constraint optimization; Cost function; Fingers; Force control; Friction; Grasping; Impedance; Optimization methods; Stability;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614265
