Motion-Decoupled Internal Force Control in Grasping with Visco-Elastic Contacts

Robotic grasps exhibiting visco-elastic contact interactions with the manipulated object are considered. Control of internalforces is investigated. Thepresence of nonnegligible compliance at contacts, implies that the object dynamics cannot be neglected when attempting to control internalforces without affecting the object position. A dynamic internalforce control is proposed. It is decoupled with respect to the rigid-body object motions.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Domenico Prattichizzo, Paolo Mercorelli
• Keywords: ICRA 2000, Object Dynamics, Rigid-body Object Motions, Robotics, Visco-elastic Contact Interactions