Intelligent control of multi-fingered hands

摘要: Abstract This paper is concerned with intelligent control for grasping and manipulation of an object by multi-fingered robot hands rigid or soft hemispheric finger ends that induce rolling contacts the object. Even in case 2D motion like pinching means a pair multi-degrees freedom fingers, there arises interesting family Lagrange's equations many geometric constraints, which are under-actuated, redundant, non-holonomic some sense. Regardless underactuation dynamics, it possible to find class sensory feedback signals realize secure grasp together orientation. In regard grasping, problem force/torque closure objects dynamic sense plays crucial role. It shown proposed satisfying can be constructed without knowing kinematic parameters location mass center. To prove convergence overall fingers-object system under circumstance redundancy joints, new concepts called “stability on manifold” “asymptotic stability introduced. Based results found robotic hands, last two sections attempt discuss why human multifingered become so dexterous at manipulation.