Robust object manipulation for tactile-based blind grasping

Tactile-based blind grasping addresses realistic robotic grasping in which the hand only has access to proprioceptive and tactile sensors. The robotic hand has no prior knowledge of the object/grasp properties, such as object weight, inertia, and shape. There exists no manipulation controller that rigorously guarantees object manipulation in such a setting. Here, a robust control law is proposed for object manipulation in tactile-based blind grasping. The analysis ensures semi-global asymptotic and exponential stability in the presence of model uncertainties and external disturbances that are neglected in related work. Simulation and experimental results validate the effectiveness of the proposed approach.

• Publication year

  2017

• Venue

  Control Engineering Practice

• Publication date

  2017-09-09

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1016/j.conengprac.2019.104136
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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