Experiments in Planar Manipulation and Grasping

Richard M. Murray
MS Project Report, UC Berkeley, Dec 1988

Many algorithms have been proposed in the literature for control of multi-fingered robot hands. This paper compares the performance of several of these algorithms, as well as some extensions of more conventional manipulator control laws, in the case of planar grasping. A brief introduction to the subject of robot hands and the notation used in this paper is included.

• Masters Report: http://www.cds.caltech.edu/~murray/preprints/mur88-ms.pdf
• Project(s):