Motion-decoupled internal force control in grasping with visco-elastic contacts

Publikation: Beiträge in SammelwerkenAufsätze in KonferenzbändenForschungbegutachtet

Authors

Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internal forces is investigated. The presence of non-negligible compliance at contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A dynamic internal force control is proposed. It is decoupled with respect to the rigid-body object motions.
OriginalspracheEnglisch
TitelProceedings of the IEEE International Conference on Robotics and Automation
Anzahl der Seiten6
Band4
VerlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Erscheinungsdatum01.01.2000
Seiten3901-3906
ISBN (Print)0-7803-5886-4
DOIs
PublikationsstatusErschienen - 01.01.2000
Extern publiziertJa
VeranstaltungInstitute of Electrical and Electronics Engineers International Conference on Robotics and Automation - 2000 - San Francisco, USA / Vereinigte Staaten
Dauer: 24.04.200028.04.2000
https://www.ieee-ras.org/conferences-workshops/fully-sponsored/icra/past-and-future-venues

DOI

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Forschende

  1. Moritz Meyer

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