Experimental study of coordinated control of multifingered hands with the kinetostatic filtering method

Authors: Tomohide Naniwa; Kenzo Wada

Source: Advanced Robotics, Volume 19, Number 2, 2005 , pp. 191-206(16)

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Abstract:

For the coordinated control of multifingered robot hands it is important to simultaneously control both the position of a target object and the force exerted on it. In particular, the 'internal force' which does not affect the motion of the object should be controlled in order not to break it. This paper proposes an extension of the 'kinetostatic filtering method' by using a pseudo-inverse of the Jacobian. In addition, a new control signal is introduced for posture control of the fingertips. Experiments with a two-fingered hand are conducted to verify the capacity of the proposed controller and to show the transient response of it.

Keywords: KINETOSTATIC FILTERING; MULTIFINGERED ROBOT HANDS; COORDINATED CONTROL; FORCE CONTROL

Document Type: Short communication

DOI: http://dx.doi.org/10.1163/1568553053148655

Publication date: 2005-02-01