Adaptive grasping by multi fingered hand with tactile sensor based on robust force and position control

Abstract

In this paper we propose a new robust force and position control method for property-unknown objects grasping. The proposed control method is capable of selecting the force control or position control, and smooth and quick switching according to the amount of the external force. The proposed method was applied to adaptive grasping by three-fingered hand… (More)
DOI: 10.1109/ROBOT.2008.4543219

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