IEEE - Institute of Electrical and Electronics Engineers, Inc. - An experimental study of hierarchical control laws for grasping and manipulation using a two-fingered planar hand

Author(s): Hollerbach, K. ; Murray, R.M. ; Sastry, S.S.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1992
Conference Location: Nice, France, France
Conference Date: 12 May 1992
ISBN (Paper): 0-8186-2720-4
DOI: 10.1109/ROBOT.1992.220015
Regular:

Compares the performance of hierarchical and single-level controllers in a grasping context, and concludes that for rapid, planar grasping motions of heavy objects the performance of a... View More

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