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• W2023769960 abstract "Dexterity in robot hand object manipulation is irrevocably connected with achieving and maintaining rolling motion and contact at the fingertips. The problem of controlling a robotic fingertip for contact rolling is in this work addressed via the generation of a rolling motion trajectory and the application of a prescribed performance controller that can guarantee contact maintenance and a predefined fast convergence of the rolling tracking error to zero under any contact conditions. A simulation of a five degrees of freedom robot show excellent contact rolling performance even at cases of low friction while alternative controllers lead to contact sliding." @default.
• W2023769960 created "2016-06-24" @default.
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• W2023769960 date "2013-05-01" @default.
• W2023769960 modified "2023-09-26" @default.
• W2023769960 title "On rolling contact motion by robotic fingers via prescribed performance control" @default.
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• W2023769960 doi "https://doi.org/10.1109/icra.2013.6631137" @default.
• W2023769960 hasPublicationYear "2013" @default.
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