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Applied Force-based Multi-Fingered Grasping and Manipulation Control



Karl Van Wyk


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


manipulation, grasping, nonlinear control


Van, K. (2015), Applied Force-based Multi-Fingered Grasping and Manipulation Control, 2015 International Conference on Robotics and Automation, Seattle, WA, [online], (Accessed June 25, 2024)


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Created May 30, 2015, Updated February 19, 2017