Dextrous manipulation with multifingered robot hands including rolling and slipping of the fingertips

Abstract This paper treats two fundamental problems which occur when manipulating objects with an articulated multifingered robot hand: determination of the joint motions to perform the manipulation according to a given object trajectory and optimization of the joint torques needed to ensure a secure gripping situation. The consideration of rolling and slipping of the fingertip on the object leads to a set of linear differential equations when computing the joint angles and to a partly non-linear optimization problem for the torques. The presented removal of redundant information will decrease computation time significantly. A possible implementation of the developped equations will be given as well as an example demonstrating the need to consider rolling and slipping: rotation of an ordinary egg with the Karlsruhe Dextrous Hand.

[1]  Matthew Thomas Mason,et al.  Manipulator grasping and pushing operations , 1982 .

[2]  John J. Craig,et al.  Articulated hands: Force control and kinematic issues , 1981 .

[3]  I N Bronstein,et al.  Taschenbuch der Mathematik , 1966 .

[4]  John M. Hollerbach.  Robot hands and tactile sensing , 1990 .

[5]  Bernard Roth,et al.  Analysis of Multifingered Hands , 1986 .

[6]  Thea Iberall,et al.  Grasp Planning from Human Prehension , 1987, IJCAI.

[7]  Bernard Roth,et al.  Special grasping configurations with dexterous hands , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[8]  Günter Wöhlke,et al.  Automatic grasp planning for multifingered robot hands , 1992, J. Intell. Manuf..

[9]  Tokuji Okada,et al.  IEEE TRANSACTIONS ON SYSTEMS , MAN , AND CYBERNEICS , 2007 .

[10]  M. Arbib.  Coordinated control programs for movements of the hand , 1985 .

[11]  Van-Due Nguyen,et al.  Constructing stable force-closure grasps , 1986 .

[12]  Daniel E. Whitney,et al.  Quasi-Static Assembly of Compliantly Supported Rigid Parts , 1982 .

[13]  John J. Craig,et al.  Introduction to Robotics Mechanics and Control , 1986 .

[14]  Stephen C. Jacobsen,et al.  The UTAH/M.I.T. Dextrous Hand: Work in Progress , 1984 .

[15]  Damian M. Lyons,et al.  A simple set of grasps for a dextrous hand , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[16]  S. Gruber,et al.  Robot hands and the mechanics of manipulation , 1987, Proceedings of the IEEE.