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Hybrid closed-loop control of robotic hand regrasping

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2 Author(s)
Schlegl, T. ; Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany ; Buss, M.

We propose an approach to model a robotic hand as a hybrid discrete-continuous dynamical system. The discrete event aspect is the grasp state specifying whether fingers are in contact or not. The hybrid approach yields a comprehensive model of a closed-hoop controller for dextrous (re)grasping. Insights in the closed-loop behavior and compensation strategies for discrete state errors due to object geometry modeling errors are presented. Simulations validate the hybrid systems approach to regrasping

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998