Murray, Richard M. and Sastry, S. Shankar (1989) Control experiments in planar manipulation and grasping. In: 1989 International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 624-629. ISBN 0-8186-1938-4. https://resolver.caltech.edu/CaltechAUTHORS:20190315-135551524
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Abstract
Many algorithms have been proposed in the literature for control of multifingered robot hands. The authors compare the performance of several of these algorithms, as well as some extensions of more conventional manipulator control laws, in the case of planar grasping. Based on experiments performed on Styx, the most effective control laws are found to be the simple joint control law and the generalized computed torque law. The computed torque control law is shown to be an attractive alternative for position control of multifingered hands.
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| Additional Information: | © 1989 IEEE. Research supported in part by NSF under grant DMC-84-51129 and NASA under grant NAG 2-243. The authors would like to thank the members of the robotics lab at U.C. Berkeley, and in particular Ping Hsu, John Hauser, Zexiang Li and Arlene Cole, for many useful suggestions and comments on this research. | ||||||
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| DOI: | 10.1109/ROBOT.1989.100054 | ||||||
| Record Number: | CaltechAUTHORS:20190315-135551524 | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190315-135551524 | ||||||
| Official Citation: | R. M. Murray and S. S. Sastry, "Control experiments in planar manipulation and grasping," Proceedings, 1989 International Conference on Robotics and Automation, Scottsdale, AZ, 1989, pp. 624-629 vol.1. doi: 10.1109/ROBOT.1989.100054 | ||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
| ID Code: | 93873 | ||||||
| Collection: | CaltechAUTHORS | ||||||
| Deposited By: | Tony Diaz | ||||||
| Deposited On: | 15 Mar 2019 21:10 | ||||||
| Last Modified: | 16 Nov 2021 17:01 |
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