Manipulation gaits: sequences of grasp control tasks

In dexterous manipulation, an object must be reconfigured while maintaining a stable grasp. This may require that the object be re-grasped in order to avoid finger workspace limits. We present a set of closed-loop controllers designed to achieve force-related objectives such as wrench closure, and s...

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Bibliographic Details
Main Authors: Platt, R., Fagg, A.H., Grupen, R.A.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer science
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Exact sciences and technology
Fingers
Force control
Laboratories
Legged locomotion
Mobile robots
Motion control
Orbital robotics
Robot kinematics
Robotics
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Description
Summary:In dexterous manipulation, an object must be reconfigured while maintaining a stable grasp. This may require that the object be re-grasped in order to avoid finger workspace limits. We present a set of closed-loop controllers designed to achieve force-related objectives such as wrench closure, and show how they may be concurrently combined. Furthermore, we show that dexterous manipulation behavior may be generated by sequencing concurrent combinations of these controllers. We show that dexterous manipulation can be viewed as a task that is accomplished in the context of a wrench closure constraint. We hypothesize this approach can generalize to any task that must be accomplished while maintaining a set of constraints.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1307247