Hollerbach, Karin and Murray, Richard M. and Sastry, S. Shankar (1992) An experimental study of hierarchical control laws for grasping and manipulation using a two-fingered planar hand. In: 1992 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 2770-2775. ISBN 0-8186-2720-4. https://resolver.caltech.edu/CaltechAUTHORS:20190315-132947215
![[img]](https://authors.library.caltech.edu/style/images/fileicons/application_pdf.png) |
PDF
- Published Version
See Usage Policy. 407kB |
Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190315-132947215
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.
| Item Type: | Book Section | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Related URLs: |
| ||||||||
| ORCID: |
| ||||||||
| 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. | ||||||||
| Funders: |
| ||||||||
| DOI: | 10.1109/ROBOT.1992.220015 | ||||||||
| Record Number: | CaltechAUTHORS:20190315-132947215 | ||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190315-132947215 | ||||||||
| Official Citation: | K. Hollerbach, R. M. Murray and S. S. Sastry, "An experimental study of hierarchical control laws for grasping and manipulation using a two-fingered planar hand," Proceedings 1992 IEEE International Conference on Robotics and Automation, Nice, France, 1992, pp. 2770-2775 vol.3. doi: 10.1109/ROBOT.1992.220015 | ||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||
| ID Code: | 93871 | ||||||||
| Collection: | CaltechAUTHORS | ||||||||
| Deposited By: | Tony Diaz | ||||||||
| Deposited On: | 15 Mar 2019 20:40 | ||||||||
| Last Modified: | 16 Nov 2021 17:01 |
Repository Staff Only: item control page
