M. Malvezzi, D. Prattichizzo. Internal force control with no object motion in compliant robotic grasps. In Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on, Pages 1008-1014, Septembre 2011.
Charger l'article :
Adobe portable document (pdf)
Copyright : Questo materiale viene presentato al fine di garantire la diffusione tempestiva di studi e tecniche di lavoro. Copyright e tutti i diritti sono conservati dagli autori o da altri titolari di copyright. Tutte le persone che usufruiscono di queste informazioni, devono aderire ai termini e alle limitazioni citate da ciascun autore. Queste opere non possono essere ripubblicate senza l'esplicito permesso del titolare del copyright.
The control of internal forces is one of the key issues in grasping. When the robotic hand is compliant, for instance with passive springs at the joints, and the number of controlled variables is low, as shown in recent works for underactuated hands, it is possible that the control of internal forces implies the motion of the manipulated object. This paper deals with this issue and studies the structural conditions for the control of internal forces which do not involve any motion of the grasped object. The analysis is constructive and a controller of internal forces is proposed. Note that guaranteeing zero motion of the object while controlling internal forces is paramount in robotic manipulation when the task requires large accuracy
Monica Malvezzi 
Domenico Prattichizzo
@InProceedings{MaPr-iros11,
Author = {Malvezzi, M. and Prattichizzo, D.},
Title = {Internal force control with no object motion in compliant robotic grasps},
BookTitle = {Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on},
Pages = {1008--1014},
Month = {September},
Year = {2011}
}
Charger la référence EndNote (.ref)
This page is part the SIRSLab web site.
It has been automatically generated using the bib2html program.