On the geometric control of internal forces in power grasps

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

Standard

On the geometric control of internal forces in power grasps. / Prattichizzo, D.; Mercorelli, P.; Bicchi, Antonio et al.
Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997 . Vol. 2 IEEE - Institute of Electrical and Electronics Engineers Inc., 1997. p. 1942-1947 (Proceedings of the IEEE Conference on Decision and Control).

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

Harvard

Prattichizzo, D, Mercorelli, P, Bicchi, A & Vicino, A 1997, On the geometric control of internal forces in power grasps. in Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997 . vol. 2, Proceedings of the IEEE Conference on Decision and Control, IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 1942-1947, 36th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1997, San Diego, CA, United States, 10.12.97. https://doi.org/10.1109/CDC.1997.657879

APA

Prattichizzo, D., Mercorelli, P., Bicchi, A., & Vicino, A. (1997). On the geometric control of internal forces in power grasps. In Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997 (Vol. 2, pp. 1942-1947). (Proceedings of the IEEE Conference on Decision and Control). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.1997.657879

Vancouver

Prattichizzo D, Mercorelli P, Bicchi A, Vicino A. On the geometric control of internal forces in power grasps. In Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997 . Vol. 2. IEEE - Institute of Electrical and Electronics Engineers Inc. 1997. p. 1942-1947. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.1997.657879

Bibtex

@inbook{41bdbf930c68416bb3d7a8a5ede49ed4,
title = "On the geometric control of internal forces in power grasps",
abstract = "The geometric approach to the control of internal forces for robotic grasping is explored. Since the manipulation of deformable objects is a frequently occurrence (medical applications, manipulation of rubber and plastic in industry), manipulation systems with significant contact elasticity are studied. The presence of non-negligible compliance at the contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A geometric approach to derive a control law decoupling the internal force control action from the object dynamics is proposed.",
keywords = "Engineering",
author = "D. Prattichizzo and P. Mercorelli and Antonio Bicchi and Antonio Vicino",
note = "ISSN 01912216; 36th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1997, CDC 1997 ; Conference date: 10-12-1997 Through 12-12-1997",
year = "1997",
doi = "10.1109/CDC.1997.657879",
language = "English",
isbn = "0-7803-4187-2",
volume = "2",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",
pages = "1942--1947",
booktitle = "Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997",
address = "United States",
url = "http://cdc2016.ieeecss.org/history.php",

}

RIS

TY - CHAP

T1 - On the geometric control of internal forces in power grasps

AU - Prattichizzo, D.

AU - Mercorelli, P.

AU - Bicchi, Antonio

AU - Vicino, Antonio

N1 - Conference code: 36

PY - 1997

Y1 - 1997

N2 - The geometric approach to the control of internal forces for robotic grasping is explored. Since the manipulation of deformable objects is a frequently occurrence (medical applications, manipulation of rubber and plastic in industry), manipulation systems with significant contact elasticity are studied. The presence of non-negligible compliance at the contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A geometric approach to derive a control law decoupling the internal force control action from the object dynamics is proposed.

AB - The geometric approach to the control of internal forces for robotic grasping is explored. Since the manipulation of deformable objects is a frequently occurrence (medical applications, manipulation of rubber and plastic in industry), manipulation systems with significant contact elasticity are studied. The presence of non-negligible compliance at the contacts, implies that the object dynamics cannot be neglected when attempting to control internal forces without affecting the object position. A geometric approach to derive a control law decoupling the internal force control action from the object dynamics is proposed.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=0031380148&partnerID=8YFLogxK

U2 - 10.1109/CDC.1997.657879

DO - 10.1109/CDC.1997.657879

M3 - Article in conference proceedings

SN - 0-7803-4187-2

VL - 2

T3 - Proceedings of the IEEE Conference on Decision and Control

SP - 1942

EP - 1947

BT - Proceedings of the IEEE Conference on Decision and Control San Diego, Cahfomia USA December 1997

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 36th Institute of Electrical and Electronics Engineers Conference on Decision and Control - 1997

Y2 - 10 December 1997 through 12 December 1997

ER -

DOI