Vision-based model predictive control for within-hand precision manipulation with underactuated grippers

ICRA, pp. 2839-2845, 2017.

Cited by: 18|Views15


Precision manipulation with underactuated hands is a challenging problem due to difficulties in obtaining precise gripper, object and contact models. Using vision feedback provides a degree of robustness to modeling inaccuracies, but conventional visual servoing schemes may suffer from performance degradation if inaccuracies are large and...More



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