Continuous adaptive gaits manipulation for three-fingered robotic hands via bioinspired fingertip contact events

作     者：Xiaolong Ma Jianhua Zhang Binrui Wang Jincheng Huang Guanjun Bao 

作者机构：College of Mechanical and Electrical EngineeringChina Jiliang UniversityHangzhou 310018China School of Mechanical EngineeringUniversity of Science and Technology BeijingBeijing 100083China College of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310023China Key Laboratory of Special Purpose Equipment and Advanced Processing TechnologyMinistry of Education and Zhejiang ProvinceZhejiang University of TechnologyHangzhou 310023China 

出 版 物：《Biomimetic Intelligence & Robotics》 (仿生智能与机器人（英文）)

年 卷 期：2024年第4卷第1期

页      面：59-69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] 

基　　金：This work was supported by the National Natural Science Foundation of China(U2013212) the Key Research and Development Program of Zhejiang,China(2021C04015) the Fundamental Research Funds for the Provincial Universities of Zhejiang,China(RF-C2019004) 

主　　题：Adaptive switch Contact event Continuous manipulation Multifinger gait Primitive 

摘      要：The remarkable skill of changing its grasp status and relocating its fingers to perform continuous in-hand manipulation is essential for a multifingered anthropomorphic hand.A commonly utilized method of manipulation involves a series of basic movements executed by a high-level ***,it remains unclear how these primitives evolve into sophisticated finger gaits during ***,we propose an adaptive finger gait-based manipulation method that offers real-time regulation by dynamically changing the primitive interval to ensure the force/moment balance of the *** manipulation relies on contact events that act as triggers for real-time online replanning of multifinger *** identify four basic motion primitives of finger gaits and create a heuristic finger gait that enables the continuous object rotation of a round *** experimental results verify the effectiveness of the proposed *** the constant breaking and reengaging of contact between the fingers and the object during manipulation,the robotic hand can reliably manipulate the object without *** when the object is subjected to interfering forces,the proposed method demonstrates robustness in managing *** work has great potential for application to the dexterous operation of anthropomorphic multifingered hands.