Multi-fingered grasping experiments using real-time grasping force optimization
- 23 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1807-1812 vol.2
- https://doi.org/10.1109/robot.1996.506974
Abstract
A common approach to control multi-fingered grippers during stable grasping is the stiffness control scheme. "Internal" stiffness parameters and suitable references for internal grasping forces-often determined heuristically-ensure a stable grasp. In this paper, optimal internal forces are obtained in real-time by linearly constrained gradient flows on the smooth manifold of positive definite matrices. This optimization approach is a generic one for any number of fingers in contact with the object. Experiments with the 3-fingered Darmstadt hand show the simplicity and efficiency of the approach.Keywords
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