Applied Force-based Multi-Fingered Grasping and Manipulation Control
Karl Van Wyk
This work presents experimental results on a recently developed manipulation controller applied to a multi-fingered robotic hand to execute both grasping and manipulation tasks. The active control strategy was applied to a three-fingered, seven degree of freedom robotic hand with impedance-based tactile sensing at the fingertips. The controller, designed with Lyapunov nonlinear control techniques, extensively uses sensory feedback to robustly perform hand-object interactions. Tests were conducted on spherical and prismatic objects under tripod and precision lateral pre-grasp shapes. The hand was commanded to hold the object (grasping) as well as perform translations and rotations (manipulation). Results indicate that the strategy is a viable solution path towards enabling more intelligent and purposeful, hand-object interactions.
2015 International Conference on Robotics and Automation
Applied Force-based Multi-Fingered Grasping and Manipulation Control, 2015 International Conference on Robotics and Automation, Seattle, WA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=918212
(Accessed June 2, 2023)