自由度が制限された2指ハンドによる転がり接触を用いた対象物の把握・操りと接触点の同時制御

Abstract

This paper considers simultaneous control of grasp/manipulation and contact points of an object with the pure rolling contact by two-ngered robot hand. We consider the case where the number of the degrees of freedom (DOF) of each nger is constrained. First, we derive a relationship between the rolling velocity and the motion of the ngers and the object, which determines the number of the DOF of the system. Second, we provide explicit expressions of the contact force and the motion of the ngers and the object, which can be directly used for the simultaneous control. Utilizing the results, we provide a general formulation of a linearizing compensator for the simultaneous control. Controlling the contact points can be realized by making the rolling velocity follow the appropriate trajectory with the nonholonomy of rolling. A numerical example shows the eectiv eness of the method.