Dual-fingered stable grasping control for an optimal force angle

Seung Kwan Song; Jin Bae Park; Yoon Ho Choi

doi:10.1109/TRO.2011.2168151

Dual-fingered stable grasping control for an optimal force angle

Seung Kwan Song, Jin Bae Park, Yoon Ho Choi

Department of Electrical and Electronic Engineering

Research output: Contribution to journal › Article › peer-review

23 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 language	English
Article number	6032760
Pages (from-to)	256-262
Number of pages	7
Journal	IEEE Transactions on Robotics
Volume	28
Issue number	1
DOIs	https://doi.org/10.1109/TRO.2011.2168151
Publication status	Published - 2012 Feb

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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10.1109/TRO.2011.2168151

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Dual-fingered stable grasping control for an optimal force angle

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