
3.4 Controlling the arm locally
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special case in which both open and close are stimulated, the
hand should stay in the same place.
open close finger action "velocity"
0 0 don't care undefined
0 1 squeeze together +1
1 0 draw apart -1
1 1 stay put 0
To see how this achieves the desired effect, suppose that the
fingers are closing but the force is too high. Because the gripper
is squeezing, initially open is false and close is true. However,
when the CRUSH module kicks in it forces open to become
true as well. According to the semantics defined above, this
combination instructs the fingers to stay exactly where they are.
Thus,
the force regulatio ...