Nonlinear Disturbance Observer For Object Grasping/Manipulation By Multi-Fingered Robot Hand

This paper presents nonlinear disturbance observers for object grasping/manipulation by a multi-fingered robot hand Our method makes it possible to estimate external forces without measuring joint accelerations. Global exponential convergences of the estimated disturbances to the true values are proven based on the Lyapunov theory. Computational simulations are presented to show the effectiveness of the proposed disturbance observers. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.