Chapter 15: Robust dexterous manipulation and finger gaiting under various uncertainties
Yongxiang Fan FANUC Advanced Research Laboratory, FANUC America Corporation, Union City, CA, United States
Abstract
We propose an in-hand manipulation architecture to achieve robust dexterous manipulation and finger gaiting under uncertainties. The architecture includes a robust manipulation controller and a finger gaits planner. Considering the structures of uncertainties, the robust manipulation controller is designed for the linearized uncertain system to obtain and track the desired Cartesian force on the object. The controller is able to realize robust manipulation without modeling contact, prevent the slippage, and withstand large dynamics uncertainties. ...
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