Dynamic movement by admittance control of a multi-finger-arm robot with manipulability control of fingers

Abstract

Cooperative control algorithms for a redundant finger-arm robot were proposed in a previous study, based on the movement of the human hand-arm system. With these algorithms, the finger-arm robot arm was able to complete a constrained task by integrating admittance control and impedance control with the manipulability control of the fingers. The… (More)
DOI: 10.1109/SII.2013.6776603

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