Goal: Minimum Impedance Grasping and Maniplation

Combine biologically-inspired elements:

• low-impedance manipulator

• feedforward dynamic models (limit feedback gains to  reduce impedance)

• simple contact sensing

“Intrinsic” tactile sensing(contact location from force-torque measurements)`

=> Ability to probe and grasp objects with minimum forces in unstructured environments

Previous slide

Next slide

Back to first slide

View graphic version