In-hand manipulation of a circular dynamic object by soft fingertips without angle measurement
In-hand manipulation of a circular dynamic object by soft fingertips without angle measurement作者机构：Aeronautical Engineering Program and Postgraduate Program in Aerospacial EngineeringUniversidad Politecnica Metropolitana de Hidalgo Robotics and Advanced Manufacturing Department Research Center for Advanced Studies (CINVESTAV)
出 版 物：《Science China(Information Sciences)》 (中国科学:信息科学(英文版))
年 卷 期：2021年第64卷第5期
页 面：193-208页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
主 题：optimal grasping manipulation soft-fingertips circular object stability-in-the-manifold
摘 要：A multi-fingered robotic hand with curved fingertips enables contact re-positioning without reattaching at the expense of fingertip rolling. This rolling stands for a characteristic that facilitates dexterous manipulation but results in an algebraically complex dynamic model subject to such constraints. The hemispherical shape of fingertips allows a dexterous manipulation when controlling the tangent forces, which are essential to rotate object. However, the measurement of the object angle in practice requires tactile-optical sensing. In this paper, considering robotic fingers with curved soft tips, we propose a feedback control that ensures optimal dynamical grasping of a circular rigid object. It is shown that the collaboration of the contact forces, to get a minimum pose of internal forces, and the tangential forces, to induce the conditions for assuring the grasp closure, is necessary to get a skillful manipulation. In this case, the orientation control of a circular object to the desired angle while avoiding direct measurement of the object angle is presented. Stability conditions of the system are presented in the sense of stability-in-the-manifold. Finally, representative simulations are shown and discussed.
同方期刊数据库