A control basis for learning multifingered grasps Export

@article{Coelho_97, abstract = {In this article, we introduce a robust controller that uses contact position and normal feedback to generate contact configurations for statically stable grasps. The approach uses a context sensitive composition of two controllers that minimize force and moment residuals in the grasp configuration. Equilibria in the composite controller correspond to optimal contact configurations for two and three contacts on regular, convex polygons. The preimage is used to generalize the controller to arbitrary object geometries by learning a policy for compensation and to address object recognition and contact (de)allocation. {\copyright}1997 John Wiley \& Sons, Inc.}, address = {Laboratory for Perceptual Robotics, Department of Computer Science, University of Massachusetts at Amherst, Amherst, Massachusetts 01003}, author = {Coelho, J. and Grupen, R.}, citeulike-article-id = {6067014}, citeulike-linkout-0 = {http://dx.doi.org/10.1002/(SICI)1097-4563(199707)14:7%3C545::AID-ROB3%3E3.0.CO;2-N}, citeulike-linkout-1 = {http://www3.interscience.wiley.com/cgi-bin/abstract/51812/ABSTRACT}, doi = {10.1002/(SICI)1097-4563(199707)14:7%3C545::AID-ROB3%3E3.0.CO;2-N}, issn = {1097-4563}, journal = {Journal of Robotic Systems}, keywords = {grasping}, number = {7}, pages = {545--557}, posted-at = {2009-11-04 08:45:09}, priority = {2}, title = {A control basis for learning multifingered grasps}, url = {http://dx.doi.org/10.1002/(SICI)1097-4563(199707)14:7%3C545::AID-ROB3%3E3.0.CO;2-N}, volume = {14}, year = {1997} }

TY - JOUR ID - Coelho_97 L3 - citeulike-article-id:6067014 N2 - In this article, we introduce a robust controller that uses contact position and normal feedback to generate contact configurations for statically stable grasps. The approach uses a context sensitive composition of two controllers that minimize force and moment residuals in the grasp configuration. Equilibria in the composite controller correspond to optimal contact configurations for two and three contacts on regular, convex polygons. The preimage is used to generalize the controller to arbitrary object geometries by learning a policy for compensation and to address object recognition and contact (de)allocation. ©1997 John Wiley & Sons, Inc. IS - 7 JF - Journal of Robotic Systems SN - 1097-4563 AD - Laboratory for Perceptual Robotics, Department of Computer Science, University of Massachusetts at Amherst, Amherst, Massachusetts 01003 EP - 557 TI - A control basis for learning multifingered grasps VL - 14 SP - 545 KW - grasping AU - Coelho, J AU - Grupen, R PY - 1997/// UR - http://dx.doi.org/10.1002/(SICI)1097-4563(199707)14:7%3C545::AID-ROB3%3E3.0.CO;2-N ER -