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In-hand manipulation of a circular dynamic object by soft fingertips without angle measurement

Abstract

A multi-fingered robotic hand with curved fingertips enables contact re-positioning without reat-taching 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.

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Garcia-Rodriguez, R., Parra-Vega, V. In-hand manipulation of a circular dynamic object by soft fingertips without angle measurement. Sci. China Inf. Sci. 64, 152209 (2021). https://doi.org/10.1007/s11432-020-3059-9

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  • DOI: https://doi.org/10.1007/s11432-020-3059-9

Keywords

  • optimal grasping
  • manipulation
  • soft-fingertips
  • circular object
  • stability-in-the-manifold