Extensions of Nonlinear Control Concept to Object Manipulation with Finger Relocation
نویسندگان
چکیده
The paper provides a powerful basic concept for object manipulation with finger relocation and extends the previous approaches in the area of stratified manipulation. The algorithm gives also some improvements of the developed software for smooth and stratified motion planning (MP). The key element of the approach is based strongly on the theory of stratified control for nonlinear systems. The discussed manipulation concept exploits the information about the shape of the object and endeavors to discover its most important physical properties. In connection with the subject, the paper investigates the finger gaiting manipulation (based on finger relocation) in the context of stratified nonlinear control. Copyright c ©2000 IFAC
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