A stability theory of a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot fingers.
Suguru ArimotoKenji TaharaJi-Hun BaeMorio YoshidaPublished in: Robotica (2003)
Keyphrases
- position and orientation
- robot control
- robotic manipulator
- configuration space
- legged robots
- control theory
- mobile robot
- robotic systems
- hand eye
- autonomous robots
- motion control
- robot manipulators
- control signals
- d objects
- object model
- control system
- stability margin
- stability analysis
- pairwise
- control method
- visual servoing
- home environment
- location and orientation
- vision system
- optimal control
- control strategy
- robotic arm
- motor learning
- image sequences
- manipulation tasks
- robot behavior
- lyapunov function
- high dimensional
- tabu search
- object tracking
- path planning
- human robot interaction