Adaptive Control of Multi-fingered Robot Hand Using Quaternion

Abstract

Abstract This paper presents an adaptive control for a multi-fingered robot hand with rolling contact to a grasped rigid object. In the proposed controller, the dynamic parameters of both the object and multi-fingered robot hand are estimated adaptively. The orientation error of the object is described around the relative rotational axis using quaternion. The asymptotic convergence of object motion and contact force was proven by the Lyapunov-like Lemma. An experiment of object grasping by the human-type robot hand using three fingers is shown.