Grasping

Stable robotic grasping .

• Non model-based torque controller using passivity theory for stability analysis.
• Deep learning using convolutional neural networks on images from an optical tactile sensor (the TacTip, developed in Bristol Robotics Laboratory).
• Implementation on two different fully actuated robotic hands.

Images of the implementation of the developed grasping controller on the Shadow Modular Grasper (left ) and a prototype robotic hand (right ).

Videos