Page 167 - Human Inspired Dexterity in Robotic Manipulation

CHAPTER 9

A Grasping and Manipulation

Scheme That Is Robust Against

Time Delays of Sensing

Information: An Application of a

Controller Based on Finger-Thumb

Opposability

Kenji Tahara*, Akihiro Kawamura †
*
Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan
†
Department of Advanced Information Technology, Kyushu University, Fukuoka, Japan

Contents
9.1 Introduction 165
9.2 Multifingered Hand-Arm System Grasping an Object 167
9.3 Virtual-Object Frame 168
9.4 Control Law Based on Finger-Thumb Opposability 170
9.4.1 Time Delay 170
9.4.2 Control Input 171
9.4.3 Conditions for Convergence of a Desired State 173
9.5 Numerical Simulation 174
9.6 Experiments 179
9.7 Conclusion 183
References 184
Further Reading 185

9.1 INTRODUCTION

The ability to grasp and manipulate an object stably and dexterously is one of
the most necessary functions for robots operating in our daily living space.
For the execution of object manipulation tasks, the geometrical information
about an object to be grasped, such as its shape, position, and orientation, is
very useful to a robot if it can be obtained in advance. However, obtaining

Human Inspired Dexterity in Robotic Manipulation © 2018 Elsevier Inc.
https://doi.org/10.1016/B978-0-12-813385-9.00009-1 All rights reserved. 165