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Encyclopedia of Systems and Control pp 1–9Cite as

Robot Grasp Control

Introduction

Grasp control refers to the art of controlling the motion of an object by constraining its dynamics through contacts with a hand. The process of controlling the grasp is not limited to robotic hands only but also applies to human hands (Johansson and Edin 1991) and to all other mechanisms using contact constraints to control the motion of the manipulated object (Brost and Goldberg 1996).

A crucial role in the control of grasping is played by contact constraints. All the interactions between the robotic hand and the grasped object occur at the contacts whose understanding is paramount (Salisbury and Roth 1983). The unilateral nature of contact interaction in grasping makes the control problems much more challenging than cooperative manipulation where multiple arms hold the object rigidly allowing bilateral force transmission at each contact point (Chiacchio et al. 1991).

The importance of unilateral contact constraints in grasping led a large part of the literature to focus...

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Author information

Authors and Affiliations

  1. University of Siena, Siena, Italy

    Domenico Prattichizzo

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  1. Domenico Prattichizzo
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Correspondence to Domenico Prattichizzo .

Editor information

Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, Massachusetts, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, Minnesota, USA

    Tariq Samad

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Prattichizzo, D. (2014). Robot Grasp Control. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_171-1

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  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-1

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  • Online ISBN: 978-1-4471-5102-9

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Chapter history

  1. Latest

    Robot Grasp Control
    Published:
    18 April 2020

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-2

  2. Original

    Robot Grasp Control
    Published:
    28 November 2014

    DOI: https://doi.org/10.1007/978-1-4471-5102-9_171-1

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