𝔖 Bobbio Scriptorium
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A force-closure test for soft multi-fingered grasps

✍ Scribed by Bingran Zuo; Wenhan Qian


Book ID
105655691
Publisher
SP Science China Press
Year
1998
Tongue
English
Weight
433 KB
Volume
41
Category
Article
ISSN
1006-9321

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We consider the problem of force and position regulation for a robot finger with a soft tip in contact with a surface with unknown geometrical characteristics. An adaptive controller is proposed, and the asymptotic convergence of the applied force error and the estimated position error of the tip to