On - Line Grasp Estimator : A Partitioned State Space Approach 1
نویسنده
چکیده
This paper reports preliminary results of work focused on re exive and reactive controllers for managing a 20 degree-of-freedom (DOF) hand/arm system performing grasping tasks. The goal is to provide a framework for sensor-based controllers that acquire visual and haptic information on-line and use this data stream to re ne grasping solutions. We will present several such behaviors and illustrates how they can be used to suppress local errors in the neighborhood of a grasp solution. 1 This work is supported in part by NSF CDA-8922572 (CII), IRI-9116297, IRI-9208920 (CRICCS), and CNPq 202107/90.6
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