View source for An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks

{{HTDB paper
| authors = Sudipto Sur and Richard M. Murray
| title = An Experimental Comparison of Tradeoffs in Using Compliant Manipulators for Robotic Grasping Tasks
| source = 1997 International Conference on Robotics and Automation
| year = 1997
| type = Conference paper
| funding = NSF
| url = http://www.cds.caltech.edu/~murray/preprints/sm97-icra.pdf
| abstract = 
Controllers developed for control of flexible-link robots in hybrid
force-position control tasks by a new singular perturbation analysis
of flexible manipulators are implemented on an experimental two-robot
grasping setup.  Various performance criteria are set up and
experimental results are discussed within that setting to show
tradeoffs in using flexible link robots for grasping. We conclude that
large flexibility can be controlled without too much additional
effort, has performance comparable to rigid robots and possesses
enhancing properties which make it attractive for use in certain types
of applications.

| flags = 
| tag = sm97-icra
| id = 1997g
}}