Motion planning and control method of dexterous manipulation utilizing a simulation system for a multi-fingered robotic hand

Abstract

This chapter presents the manipulation of a block and a cylinder on a table with a two-fingered robotic hand was presented. Nine types of primitive motions are defined for this manipulation. The joint trajectories and contact forces were generated by the simulation system that we developed in the previous work. For the control of primitive motions involving estimation of the direction of the kinematic constraint, four active sensing methods were developed. Force sensors and dynamic tactile sensors are used to adapt to uncertainties encountered during manipulation. The change in the contact force vector was used to estimate the contact location on the table, and the small variation in the fingertip position was used to refine the accuracy of the estimate. Experimental results of various manipulative motions have proved that complex manipulations can be realized as sequences of primitive motions.