An experimental study of hierarchical control laws for grasping andmanipulation using a two-fingered planar hand

摘要

Compares the performance of hierarchical and single-levelcontrollers in a grasping context, and concludes that for rapid, planargrasping motions of heavy objects the performance of a hierarchicalcontrol structure is superior to that of the two single-levelcontrollers tested. Although the theory discussed applies to graspingproblems of arbitrary complexity, the focus is on planar, two-fingeredgrasping for the sake of clarity and to simplify implementation andexperimental testing of the proposed control algorithms. The controlalgorithms have been implemented on a multifingered hand