Dual-fingered stable grasping control for an optimal force angle

Seung Kwan Song, Jin Bae Park, Yoon Ho Choi

Research output: Contribution to journalArticle

15 Citations (Scopus)

Abstract

In this paper, we propose a control method for stable grasp of dual-fingered robots with rigid hemispherical fingertips. The main contribution of the proposed approach is to lower the probability of the object slipping out of the fingertips as optimizing the angle of the grasping force. In addition, since the controller is allowed to use the tactile sensor, the shape of an object is not limited, as long as the contact point is positioned on the vicinity of smooth curvatures. We prove the stability analysis of the proposed controller via the Lyapunov direct method. Finally, we present simulation results to validate the effectiveness of the proposed approach.

Original languageEnglish
Article number6032760
Pages (from-to)256-262
Number of pages7
JournalIEEE Transactions on Robotics
Volume28
Issue number1
DOIs
Publication statusPublished - 2012 Feb 1

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Controllers
Point contacts
Robots
Sensors

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Song, Seung Kwan ; Park, Jin Bae ; Choi, Yoon Ho. / Dual-fingered stable grasping control for an optimal force angle. In: IEEE Transactions on Robotics. 2012 ; Vol. 28, No. 1. pp. 256-262.
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Dual-fingered stable grasping control for an optimal force angle. / Song, Seung Kwan; Park, Jin Bae; Choi, Yoon Ho.

In: IEEE Transactions on Robotics, Vol. 28, No. 1, 6032760, 01.02.2012, p. 256-262.

Research output: Contribution to journalArticle

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