A bistable soft gripper with mechanically embedded sensing and actuation for fast closed-loop grasping.
Thomas George ThuruthelSyed Haider AbidiMatteo CianchettiCecilia LaschiEgidio FaloticoPublished in: CoRR (2019)
Keyphrases
- closed loop
- open loop
- disturbance rejection
- control system
- feedback control
- control scheme
- position control
- control law
- parameter identification
- pid controller
- force control
- real time
- degrees of freedom
- vision system
- asymptotic stability
- control algorithm
- dc motor
- robotic arm
- position and orientation
- guaranteed cost
- control loop
- motion planning
- dynamic programming
- reference trajectory