Grip Stabilization through Independent Finger Tactile Feedback Control

Grip Stabilization through Independent Finger Tactile Feedback Control

Grip force control during robotic in-hand manipulation is usually modeled as a monolithic task, where complex controllers consider the placement of all fingers and the contact states between each finger and the gripped object in order to compute the necessary forces to be applied by each finger. Suc...

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Bibliographic Details
Main Authors: Filipe Veiga, Benoni Edin, Jan Peters
Format: Article
Language:English
Published: MDPI AG 2020-03-01
Series:Sensors
Subjects:
in-hand manipulation
modular control
reactive control
tactile feedback
independent finger control
slip prediction
Online Access:https://www.mdpi.com/1424-8220/20/6/1748

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