  Tactile-based blind grasping addresses realistic robotic grasping in which
the hand only has access to proprioceptive and tactile sensors. The robotic
hand has no prior knowledge of the object/grasp properties, such as object
weight, inertia, and shape. There exists no manipulation controller that
rigorously guarantees object manipulation in such a setting. Here, a robust
control law is proposed for object manipulation in tactile-based blind
grasping. The analysis ensures semi-global asymptotic and exponential stability
in the presence of model uncertainties and external disturbances that are
neglected in related work. Simulation and experimental results validate the
effectiveness of the proposed approach.
