A Passivity-based control scheme for robotic grasping and manipulation

Stefano Stramigioli*, Claudio Melchiorri, Stefano Andreotti

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

12 Citations (Scopus)
1 Downloads (Pure)


This article presents and discusses the application of an impedance control strategy to robotic grasping tasks. This control strategy, that can be used for both tips and full grasps, is based on two fundamental aspects. The first is the so-called 'virtual object' concept, by means of which the modalities of interaction between the fingers and the real objects can be properly defined. The second is the 'damping injection' principle, which allows a stable execution of the planned task. Major advantages of the presented strategy are the physical intuition on which it is based and its passive nature and which ensures stability in all the situations, including the transition from no contact to contact and vice versa. Experimental results will show the effectiveness of the control strategy.

Original languageEnglish
Title of host publicationProceedings of the 38th IEEE Conference on Decision and Control
Number of pages6
Publication statusPublished - 1 Dec 1999
Externally publishedYes
Event38th IEEE Conference on Decision and Control, CDC 1999 - Phoenix, United States
Duration: 7 Dec 199910 Dec 1999
Conference number: 38


Conference38th IEEE Conference on Decision and Control, CDC 1999
Abbreviated titleCDC
Country/TerritoryUnited States


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