Abstract:
This paper presents a novel control strategy for a grasping free form unknown objects. The strategy adapts online the grasping forces applied at each contact point based ...Show MoreMetadata
Abstract:
This paper presents a novel control strategy for a grasping free form unknown objects. The strategy adapts online the grasping forces applied at each contact point based on a bio-inspired criterion that reflects the total change in the measured force at each contact point. Experimental results with a two-fingered gripper equipped with tactile array sensors are provided. It shows that the adaptation can reach a stable grasp in less than 50ms from the initial contact.
Date of Conference: 07-12 October 2012
Date Added to IEEE Xplore: 20 December 2012
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