Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties ...

In this report, a method for exploiting the redundancy of a hand-arm mechanical system for manipulation tasks is illustrated. The basic idea is to try to exploit the different intrinsic capabilities of the arm and hand ...

For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be ...

This thesis presents the design, construction, control and evaluation of a novel force controlled actuator. Traditional force controlled actuators are designed from the premise that "Stiffer is better''. This approach ...

A method is presented for stably grasping 2 dimensional polygonal objects with a dextrous hand when object models are not avaiable. Basic constraints on object vertex angles are found for feasible grasping with two fingers. ...