This theory allows one to specify a complete task level closed loop hierarchical control architecture, and provides important guidelines for the implementation ...
The project, started in 1993, aims at the development of innovative manipulation systems featuring new advanced underwater mechanical grippers and manipulators, ...
TL;DR: Presents the design of the fingertip sensing subsystem constructed for use in a dextrous underwater gripper, using a force sensor and a slip sensor to ...
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What is the control architecture?
The objective of the control algorithm is the accu- rate positioning of the free end of the finger by acting on the pressure of the oil which is present within ...
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Contact force and slip sensors are currently included within each fingertip of the dexterous gripper design. (Figure 9), encapsulated within a compliant silicon ...
We describe the grippers and tools commonly used in underwater sampling for scientific purposes, systematically review the state of the art of research.
The paper describes the design philosophy and the methods which have been adopted within the design of the functional and algorithmic control architecture for a ...
This paper presents the design of an integrated fingertip force sensor employing an optical fiber based approach where applied forces modulate light intensity.
This paper summarizes the developments in Phase I of AMADEUS, a dexterous subsea robot hand incorporating force and slip contact sensing.
