Details

Autor(en) / Beteiligte

• Buss, M.
• Kleinmann, K.P.

Titel

Multi-fingered grasping experiments using real-time grasping force optimization

Ist Teil von

• Proceedings of IEEE International Conference on Robotics and Automation, 1996, Vol.2, p.1807-1812 vol.2

Ort / Verlag

IEEE

Erscheinungsjahr

1996

Link zum Volltext

• IEEE_Xplore

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• A common approach to control multi-fingered grippers during stable grasping is the stiffness control scheme. "Internal" stiffness parameters and suitable references for internal grasping forces-often determined heuristically-ensure a stable grasp. In this paper, optimal internal forces are obtained in real-time by linearly constrained gradient flows on the smooth manifold of positive definite matrices. This optimization approach is a generic one for any number of fingers in contact with the object. Experiments with the 3-fingered Darmstadt hand show the simplicity and efficiency of the approach.