Dual-Fingered Stable Grasping Control for an Optimal Force Angle

Abstract

In this paper, we propose a control method for stable grasp of dual-fingered robots with rigid hemispherical fingertips. The main contribution of the proposed approach is to lower the probability of the object slipping out of the fingertips as optimizing the angle of the grasping force. In addition, since the controller is allowed to use the tactile sensor… (More)
DOI: 10.1109/TRO.2011.2168151

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