Manipulability-based spatial isotropy: A kinematic reflex
| Author(s) : | Kamal Souccar Rod Grupen, |
| Publisher : | N/A |
| Publication Date : | 1993 |
| ISSN : | N/A |
| Abstract : | This paper reports results obtained from a reflexive robot controller designed to manage the posture of a 20 degree-of-freedom (DOF) hand/arm system performing grasping tasks. The goal is to provide a framework for sensor-based controllers that dynamically optimize the kinematic configuration of the robot to improve performance on the grasping task. We will present such a behavior and illustrate how it is used to suppress local errors in a priori models., |