Abstract
Abstract This paper presents a control method of object manipulation by a multi-fingered robot hand with hemispherical soft fingertips. Reflection force, which occurs between the soft fingertips and object, is composed of static elastic force, viscous damping force, and inertia force. The asymptotic convergence of the object position, object orientation and contact force was proven by the Lyapunov-like Lemma. An object-grasping experiment by the human-type robot hand using three fingers is shown.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
