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Nullspace Composition Of Control Laws For Grasping, Robert Platt, Andrew Fagg, Roderic Grupen

Roderic Grupen

Much of the tradition in robot grasping is rooted in geometrical, planning-based approaches in which it assumed that object and finger geometries are well modeled a priori. Some recent approaches have chosen instead to deal with objects of unknown geometry. These techniques treat grasping as an active sensory-driven problem. At any given time, finger contacts are incrementally displaced along the objects local surface using a single control law. In this paper, we extend this approach by allowing multiple control laws to be active simultaneously. Three control laws are combined by projecting the actions of subordinate control laws into other control …