By Topic

Coordinated motion generation and real-time grasping force control for multifingered manipulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Li, Z.X. ; Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Tech., Hong Kong ; Qin, Z. ; Jiang, S. ; Han, L.

In this paper, we propose a unified control system architecture for multifingered manipulation (CoSAM2). CoSAM2 achieves simultaneously three objectives of multifingered manipulation: (a) Motion trajectory (velocity/force) tracking of a grasped object; (b) Improving the grasp configuration in the course of object manipulation; and (c) Optimizing grasping forces to enforce contact constraint and compensate for external object wrenches. CoSAM2 is organized in a modular and hierarchic structure so that each module implements a specified function using inputs from its predecessors and a minimum number of sensory data signals. CoSAM2 is also flexible in accommodating addition of new modules. Here, we give the details for the coordinated motion generation module and the grasping force generation module

Published in:

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

Date of Conference:

16-20 May 1998