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In this paper, we research optimal grasp regions on a polygonal shaped grasped object using a required external force set. The required external force set is given based on a task, and consists of the external forces and moments, which must be balanced by contact forces applied by a robotic hand. Even though the grasp position which satisfies the demands, the contact point moves due to position error...
The H∞ loop-shaping method is known to be an effective control method, however, it has two drawbacks. The first is that it is difficult to select appropriate loop-shaping weights, and the second is that the resulting controller is very complex. For the first drawback, Lanzon has proposed a suboptimal loop-shaping weight design method. It is formulated as a generalized eigenvalue minimization problem...
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