Published May 1992
| Published
Book Section - Chapter
Open
An experimental study of hierarchical control laws for grasping and manipulation using a two-fingered planar hand
Chicago
An error occurred while generating the citation.
Abstract
Compares the performance of hierarchical and single-level controllers in a grasping context, and concludes that for rapid, planar grasping motions of heavy objects the performance of a hierarchical control structure is superior to that of the two single-level controllers tested. Although the theory discussed applies to grasping problems of arbitrary complexity, the focus is on planar, two-fingered grasping for the sake of clarity and to simplify implementation and experimental testing of the proposed control algorithms. The control algorithms have been implemented on a multifingered hand.
Additional Information
© 1992 IEEE. This research was supported in part by NSF under grant DMC-84-51129 and under grant ECS-87-19298 and by the U.S. Department of Health and Human Services under grant PHS GM07379-14. In addition, the authors would like to thank Dr. S. Lehman, of the Bioengineering Graduate Group at the University of California at Berkeley, for many helpful discussions and comments relating to the work presented here.Attached Files
Published - 00220015.pdf
Files
00220015.pdf
Files
(407.2 kB)
| Name | Size | Download all |
|---|---|---|
|
md5:aeaa9ae8d60c3dcb93967fd0bbf44526
|
407.2 kB | Preview Download |
Additional details
- Eprint ID
- 93871
- Resolver ID
- CaltechAUTHORS:20190315-132947215
- NSF
- DMC-84-51129
- NSF
- ECS-87-19298
- NIH
- GM07379-14
- Created
-
2019-03-15Created from EPrint's datestamp field
- Updated
-
2021-11-16Created from EPrint's last_modified field