On a two-level hierarchical structure for the dynamic control of multifingered manipulation

摘要

The problem of grasping and manipulating rigid objects using a multifingered robotic system is dealt with. A hierarchical two-level closed-loop trajectory tracking control strategy is presented in order to achieve the manipulation task, together with a complimentary force control, for object grasping, which makes use of a formulation of grasping forces decomposition.