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Title: Coordinated motion generation and real-time grasping force control for multifingered manipulation
Authors: Li, Zexiang
Qin, Z.
Jiang, S.
Han, L.
Keywords: Control system architecture for multifingered manipulation
Multifingered manipulation
Coordinated motion generation
Motion trajectory
Grasp configuration
Real-time grasping
Grasping force generation
Issue Date: May-1998
Citation: IEEE International Conference on Robotics and Automation, Leuven, Belgium, 16-20 May, 1998, vol. 4, p. 3631-3638
Abstract: In this paper, we propose a unified Control System Architecture for Multifingered Manipulation (CoSAM2). CoSAM2 achieves simultaneously three objectives of multifingered manipulation: (a) Motion trajectory (velocity/force) tracking of a grasped object; (b) Improving the grasp configuration in the course of object manipulation; and (c) Optimizing grasping forces to enforce contact constraint and compensate for external object wrenches. CoSAM2 is organized in a modular and hierarchic structure so that each module implements a specified function using inputs from its predecessors and a minimum number of sensory data signals. CoSAM2 is also flexible in accommodating addition of new modules. Here, we give the details for the Coordinated Motion Generation module and the Grasping Force Generation Module.
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