Stable pinching by a pair of robot fingers with soft tips under the effect of gravity

摘要: This paper analyses lumped-parameter dynamics of a pair robot fingers with soft and deformable tips pinching rigid object under the effect gravity force. The system in which area contacts between finger-tips surfaces arise are compared those an object, or without gravity. It is then shown that there exists sensory feedback from measurement finger joint angles rotational angle to command inputs actuators, this connection sensing action realizes secure grasping dynamic sense regulation posture. further various types other connections action, can be used combination signals for stable posture control realizing sophisticated manipulation.