Stability on a manifold: Concurrent control for secure grasp and manipulation of a rigid object by dual robot fingers

摘要: Abstract It is well known that three frictionless fingers suffice to immobilize any 2D object with triangular shape but four are necessary for a parallelepiped. However, it has been recently shown only two enough realize secure grasp of rigid parallel flat surfaces in dynamic sense if finger ends have hemispherical appropriate radius and thereby roIlings induced between surfaces. This paper focuses on the problems: 1) realization objects non-parallel (including objects) by dual multi-degrees-of-freedom 2) concurrent orientation control polygonal under effect gravity. stable realized sensory feedback constructed basis measurements joint angles relative links without knowing kinematics mass center. Further, there exists an additional can regulate angle simultaneously. Copyright©2003 IFAC