Nlanipulation of an Unknown Object by Multifingered Hands with Rollin Using Tactile Feiedback

A new control algorithm using the tactile feedback is proposed and examined for the manipulation by multifingered hand where the fingertip and the object make rolling contact. At first, the mathematical model of the kinematics of the manipulation with rolling contact is formulated. After that, by employing the assumption that the location of the contact is detected by the tactile sensor installed at the fingertip, the manipulation control algorithm is considerably simplified. The proposed control algorithm allows to determine the motion of the finger so as to manipulate the object along the desired trajectory without any information of the shape of the object. Finally, the previously developed finger-shaped tactile sensor using an optical waveguide is installed on the two-fingered hand, and the effectiveness of the proposed manipulation c ontrol is experimentally confirmed.