Page 152 - Human Inspired Dexterity in Robotic Manipulation

CHAPTER 8

Dynamic Manipulation Based on

Thumb Opposability: Passivity-

Based Blind Grasping and

Manipulation

Ryuta Ozawa*, Ji-Hun Bae †
*
Department of Mechanical Engineering Informatics, Meiji University, Kawasaki, Japan
†
Robotics R&D Group, Korea Institute of Industrial Technology, Cheonan, South Korea

Contents
8.1 Introduction 150
8.2 Structure of Hand Control Systems 150
8.3 Modeling and Dynamic Control of Precision Grasp 152
8.3.1 Contact Models 152
8.3.2 Dynamics and Equilibrium Points of a Finger-Object System 153
8.3.3 Blind Grasp Based on Thumb Opposability 154
8.3.4 Superposition of Lower Priority Tasks to Stable Grasping 158
8.4 Supervisory Control and Autonomy of Grasp and Manipulation 159
8.5 Discussion 162
References 163

Chapter Points
• Master-slave and semiautonomous systems are compared to discuss why control
methods for grasping and manipulation are needed.
• Grasp can be classified as precision and power grasps. Precision grasp is important
for grasping and manipulating an object.
• Thumb opposition plays a critical role in designing a stable precision grasp
controller and decreases the preknowledge of a grasped object.
• A grasp controller called blind grasping is introduced to stabilize grasp and
manipulation without external sensing and object information.
• Blind grasping is implemented in two different platforms to confirm robustness.

Human Inspired Dexterity in Robotic Manipulation © 2018 Elsevier Inc.
https://doi.org/10.1016/B978-0-12-813385-9.00008-X All rights reserved. 149