An Underactuated Gripper based on Car Differentials for Self-Adaptive Grasping with Passive Disturbance Rejection.
Qiujie LuJinhong WangZhuang ZhangGenliang ChenHao WangNicolás RojasPublished in: ICRA (2021)
Keyphrases
- disturbance rejection
- limit cycle
- closed loop
- control system
- steady state
- robotic arm
- motion planning
- mechanical systems
- pid controller
- neural model
- vision system
- control scheme
- degrees of freedom
- control parameters
- receding horizon
- position and orientation
- robotic cell
- neural network
- real time
- control law
- control loop
- global optimization
- fuzzy sets
- artificial neural networks