Manipulation gaits: sequences of grasp control tasks Export

@inproceedings{Platt_04, abstract = {In dexterous manipulation, an object must be reconfigured while maintaining a stable grasp. This may require that the object be re-grasped in order to avoid finger workspace limits. We present a set of closed-loop controllers designed to achieve force-related objectives such as wrench closure, and show how they may be concurrently combined. Furthermore, we show that dexterous manipulation behavior may be generated by sequencing concurrent combinations of these controllers. We show that dexterous manipulation can be viewed as a task that is accomplished in the context of a wrench closure constraint. We hypothesize this approach can generalize to any task that must be accomplished while maintaining a set of constraints.}, author = {Platt, R. and Fagg, A. and Grupen, R.}, citeulike-article-id = {392355}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ROBOT.2004.1307247}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1307247}, day = {06}, doi = {10.1109/ROBOT.2004.1307247}, journal = {Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on}, keywords = {grasping, sliding\_contacts}, month = {July}, pages = {801--806}, posted-at = {2009-11-04 09:29:27}, priority = {2}, title = {Manipulation gaits: sequences of grasp control tasks}, url = {http://dx.doi.org/10.1109/ROBOT.2004.1307247}, volume = {1}, year = {2004} }

TY - CONF ID - Platt_04 L3 - citeulike-article-id:392355 N2 - In dexterous manipulation, an object must be reconfigured while maintaining a stable grasp. This may require that the object be re-grasped in order to avoid finger workspace limits. We present a set of closed-loop controllers designed to achieve force-related objectives such as wrench closure, and show how they may be concurrently combined. Furthermore, we show that dexterous manipulation behavior may be generated by sequencing concurrent combinations of these controllers. We show that dexterous manipulation can be viewed as a task that is accomplished in the context of a wrench closure constraint. We hypothesize this approach can generalize to any task that must be accomplished while maintaining a set of constraints. JF - Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on EP - 806 TI - Manipulation gaits: sequences of grasp control tasks VL - 1 SP - 801 KW - grasping KW - sliding_contacts AU - Platt, R AU - Fagg, A AU - Grupen, R PY - 2004/07/06/ UR - http://dx.doi.org/10.1109/ROBOT.2004.1307247 ER -