Prashant Rao — accepted AI-conference papers

2018

Analyzing and Improving Cartesian Stiffness Control Stability of Series Elastic Tendon-Driven Robotic Hands

ICRA 2018poster

Robust and dexterous manipulation is identified as one of the critical challenges in the field of robotic hand design and control. A key requirement of dexterous manipulation is the ability to modulate fingertip force directions and magnitudes. Cartesian stiffness control is a strategy to generate p…

Cited by 11 Source ↗Scholar ↗

2017

Analyzing achievable stiffness control bounds of robotic hands with coupled finger joints

Prashant Rao, Gray C. Thomas, Luis Sentis, Ashish D. Deshpande

ICRA 2017poster

The mechanical design of robotic hands has been converging towards low-inertia, tendon-driven strategies. As tendon driven robotic fingers are serial chain systems, routing strategies with compliant tendons lead to multi-articular coupling between the degrees of freedom. We propose a generalized ana…

Cited by 18 Source ↗Scholar ↗