Journal article

Technical Note for "Tactile-Based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands"

Wenceslao Shaw-Cortez, Denny Oetomo, Chris Manzie, Peter Choong

IEEE ROBOTICS AND AUTOMATION LETTERS | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | Published : 2020

Abstract

The manuscript 'Tactile-based Blind Grasping: A Discrete-Time Object Manipulation Controller for Robotic Hands' contains results that are dependent on two references. Since publication, we realized that one of these references has inconsistent results regarding continuity of quadratic programs. The second reference has updated conditions that are not completely reflected in the original manuscript. We take the time here to replace the inconsistencies and update this manuscript to preserve the theoretical guarantees of the proposed controller. We note that this correction does not change the proposed control law, and is made to formally ensure that the guarantees hold.