Abstract
In this paper, we describe the stiffness of a grasp as a function of grasp configuration, grasping forces and joint stiffness of the fingers. The effects caused by the change of joint configuration is included in the computation of the joint stiffness in terms of Stiffness Induced from Configuration Change and Force(SICC). Based on the analysis, the Decentralized Object Stiffness Control(DOSC) method is proposed so as to achieve the desired overall grasp stiffness. The effects of SICC at the joint stiffness and the performance of the proposed stiffness control method are experimentally verified using a two fingered robot hand.
| Original language | English |
|---|---|
| Pages (from-to) | 621-625 |
| Number of pages | 5 |
| Journal | Proceedings of the American Control Conference |
| Volume | 1 |
| State | Published - 1994 |
| Externally published | Yes |
| Event | Proceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA Duration: 29 Jun 1994 → 1 Jul 1994 |
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