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CoSAM<sup>2</sup> : a unified control system architecture for multifingered manipulation

Authors Li, Zexiang
Qin, Z.
Jiang, S.
Issue Date 1998-03
Summary In this paper, we describe a unified Control System Architecture for Multifingered Manipulation (CoSAM<sup>2</sup>). CoSAM<sup>2</sup> 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. CoSAM<sup>2</sup> 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. CoSAM<sup>2</sup> is also flexible in accommodating addition of new modules such as the Dextrous Manipulation module we intend to develop.We give the theoretical background of CoSAM<sup>2</sup> along with algorithms suitable for real-time implementation. We also present experimental results obtained using the HKUST three-fingered robotic hand for several manipulation experiments.
Language English
Format Preprint
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