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- W1617432879 abstract "Manual exploration and manipulation of unknown objects in unstructured environments require sensory guided motor control strategies. For humans or general purpose robots, the presence of compliant fingerpads is crucial in enhancing the stability of grasp and manipulability, and the objects they encounter are often compliant. In this paper, we apply well known system identification and control methods to enable successful grasping and manipulation of compliant objects using compliant fingerpads. Through the use of linear and nonlinear lumped parameter models, we describe the dynamic relationships between the external forces exerted on the fingers and the contact forces imposed on the object. We present two approaches to realize the necessary control actions, one where the identification of the system parameters is followed by control, and the other where an adaptive control strategy is used. We illustrate the importance of tactile information in not only satisfying the necessary interface constraints, but also in simplifying the identification and control procedures for successful performance of grasping and manipulation tasks." @default.
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- W1617432879 date "1998-01-01" @default.
- W1617432879 modified "2023-09-25" @default.
- W1617432879 title "The Role of Compliant Fingerpads in Grasping and Manipulation: Identification and Control" @default.
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- W1617432879 doi "https://doi.org/10.1007/978-1-4612-1710-7_1" @default.
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