An experimental study of hierarchical control laws for grasping and manipulation using a two-fingered planar hand.
Karin HollerbachRichard M. MurrayS. Shankar SastryPublished in: ICRA (1992)
Keyphrases
- control law
- object manipulation
- manipulation tasks
- motion planning
- control theoretic
- closed loop
- control algorithm
- control system
- control theory
- nonlinear systems
- control strategy
- adaptive control
- visual servoing
- dynamical systems
- optimal control
- control scheme
- end effector
- control architecture
- tracking control
- human hand
- vision system
- autonomous robots
- robot navigation
- variable structure
- flight control
- real time
- robot control
- path planning
- reinforcement learning
- service robots
- real robot
- control parameters
- robotic systems
- state space
- computer vision