Adaptive grasping by multi fingered hand with tactile sensor based on robust force and position control.
Taro TakahashiToshimitsu TsuboiTakeo KishidaYasunori KawanamiSatoru ShimizuMasatsugu IribeTetsuharu FukushimaMasahiro FujitaPublished in: ICRA (2008)
Keyphrases
- position control
- control scheme
- robotic manipulator
- force control
- closed loop
- tactile sensing
- control system
- robot arm
- impedance control
- control theoretic
- control strategies
- end effector
- dc motor
- object manipulation
- visual feedback
- force feedback
- degrees of freedom
- vision system
- computer vision
- control architecture
- pose estimation
- video sequences
- real time