Important role of force/velocity characteristics in sensory-motor coordination for control design of object manipulation by a multi-fingered robot hand
作者： J.-H. Bae , S. Arimoto
DOI: 10.1017/S0263574704000311
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摘要: The purpose of this paper is in duplicate to present computer simulation results concurrent grasp and object manipulation by a pair three degrees freedom (3-dof) robot fingers with rigid hemispherical finger-ends that induce rolling contacts an propose guidance gain tuning. Although the existence class sensory feedback signals realize stable orientation control concurrently has been shown theoretically, problem tuning their gains not yet solved. This proposes guideline for deriving relationship between mass damping coefficients finger motions through analyzing overall fingers-object dynamics taking into account well-known force/velocity characteristics human muscle physiology.
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