By Topic

Controlling the power grasp with incomplete touch sensor information

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

3 Author(s)
Vuskovic, M.I. ; Dept. of Math. & Comput. Sci., SDSU, San Diego, CA, USA ; Dunlop, G.R. ; Filali-Adib, K.

Grasping objects with a multifingered hand in an enveloping manner, known as power grasp, has three major aspects: grasp planning, optimal contact force distribution and dynamic control of the desired contact forces. The focus of this paper is on the third problem. The maintenance of the desired optimal contact forces should be normally based on the complete contact force sensing, which is difficult to provide. The real, inexpensive force sensing resistor (FSR) type of touch sensors can measure only the normal component of the contact forces. This paper proposes a simple feedback controller based on such deficient feedback information

Published in:

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

Date of Conference:

16-20 May 1998