A novel impedance grasping strategy as a generalized hamiltonian system

摘要: This chapter presents an intrinsically passive control strategy for robotic grasping tasks. can be seen as a nontrivial application of the techniques presented in [14]. It is shown that robot design synthesized spatial interconnection between and controller easily handled. The idea based on what called Virtual Object Concept [13] used both tips grasp full grasp. One major advantages nature algorithm physical intuition it supplies due to description elements