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Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform broad-scale manipulation tasks, it is desired that a multi-fingered robotic hand can robustly manipulate objects without knowing the exact objects dynamics (i.e. mass and inertia) in advance. However, realizing robust manipulation is challenging due to the complex contact dynamics, the nonlinearities...
This paper proposes a disturbance observer (DOB) design procedure for general multi-input-multi-output (MIMO) systems based on the H-infinity synthesis. The DOB is designed by minimizing the H-infinity norm of the dynamic system from the disturbance to its estimation error. The design procedure does not require an explicit plant inverse. The proposed DOB is applied to a dual-stage hard disk drive...
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