Van, K.
(2015),
Applied Force-based Multi-Fingered Grasping and Manipulation Control, 2015 International Conference on Robotics and Automation, Seattle, WA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=918212
(Accessed March 15, 2025)
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.
Applied Force-based Multi-Fingered Grasping and Manipulation Control
Published
Author(s)
Abstract
This work presents experimental results on a recently developed manipulation controller applied to a multi-fingered robotic hand to execute both grasping and manipulation tasks. The active control strategy was applied to a three-fingered, seven degree of freedom robotic hand with impedance-based tactile sensing at the fingertips. The controller, designed with Lyapunov nonlinear control techniques, extensively uses sensory feedback to robustly perform hand-object interactions. Tests were conducted on spherical and prismatic objects under tripod and precision lateral pre-grasp shapes. The hand was commanded to hold the object (grasping) as well as perform translations and rotations (manipulation). Results indicate that the strategy is a viable solution path towards enabling more intelligent and purposeful, hand-object interactions.Proceedings Title
2015 International Conference on Robotics and Automation
Conference Dates
May 26-30, 2015
Conference Location
Seattle, WA
Pub Type
Conferences
Download Paper
Keywords
manipulation, grasping, nonlinear control
Citation
Issues
If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.
Created May 30, 2015, Updated February 19, 2017