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An experimental study of hierarchical control laws for grasping and manipulation using a two-fingered planar hand

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3 Author(s)
Hollerbach, Karin ; Dept. of EECS, California Univ., Berkeley, CA, USA ; Murray, R.M. ; Sastry, S.S.

Compares the performance of hierarchical and single-level controllers in a grasping context, and concludes that for rapid, planar grasping motions of heavy objects the performance of a hierarchical control structure is superior to that of the two single-level controllers tested. Although the theory discussed applies to grasping problems of arbitrary complexity, the focus is on planar, two-fingered grasping for the sake of clarity and to simplify implementation and experimental testing of the proposed control algorithms. The control algorithms have been implemented on a multifingered hand

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992