| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 412753 | Robotics and Autonomous Systems | 2007 | 9 Pages |
Abstract
We consider the problem of force and position regulation for a robot finger with a soft tip in contact with a surface with unknown geometrical characteristics. An adaptive controller is proposed, and the asymptotic convergence of the applied force error and the estimated position error of the tip to zero is shown for the spatial case. Simulation results demonstrate the controller performance.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Z. Doulgeri, Y. Karayiannidis,