Control program of two-fingered dexterous manipulation with primitive motions

This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertips. These joint displacements and contact forces are th...

Full description

Saved in:
Bibliographic Details
Main Authors: Chang-Soon Hwang, Sasaki, K.
Format: Conference Proceeding
Language:English
Subjects:
Displacement control
Fingers
Force control
Force sensors
Manipulator dynamics
Motion control
Motion planning
Robot sensing systems
Tactile sensors
Uncertainty
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents a motion planning and control method for the dexterous manipulation with a robotic hand. For a given trajectory of an object, a simulation system calculates the necessary joint displacements and contact forces at the fingertips. These joint displacements and contact forces are the reference inputs to the control loops of the robotic fingers. A task is decomposed into a set of primitive motions, and each primitive motion is executed using the output of the simulation system as the reference. Force sensors and dynamic tactile sensors are used to adapt to uncertainties encountered during manipulation. Several experimental results are presented.
DOI:10.1109/IROS.2003.1249311