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

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

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.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation
Number of pages6
Volume4
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date01.01.2000
Pages3901-3906
ISBN (print)0-7803-5886-4
DOIs
Publication statusPublished - 01.01.2000
Externally publishedYes
EventInstitute of Electrical and Electronics Engineers International Conference on Robotics and Automation - 2000 - San Francisco, United States
Duration: 24.04.200028.04.2000
https://www.ieee-ras.org/conferences-workshops/fully-sponsored/icra/past-and-future-venues

    Research areas

  • Dynamic internal force control, Prismatic joint, Robotic grasp, Viscoelastic contact, Degrees of freedom (mechanics), Force control, Human computer interaction, Mathematical models, Motion control, Position control, Robotics, Universal joints, Viscoelasticity, Motion planning
  • Engineering