Title: Rotary object dexterous manipulation in hand: a feedback-based method

Authors: Qiang Li; Martin Meier; Robert Haschke; Helge Ritter; Bram Bolder

Addresses: Research Institute for Cognition and Robotics (CoR-Lab), University-Strasse, 25, 33615, Bielefeld, Germany ' Neural Information Group/CITEC, University-Strasse, 21-23, 33615, Bielefeld, Germany ' Research Institute for Cognition and Robotics (CoR-Lab), University-Strasse, 25, 33615, Bielefeld, Germany ' Research Institute for Cognition and Robotics (CoR-Lab), University-Strasse, 25, 33615, Bielefeld, Germany ' Honda Research Institute Europe, Carl-Legien-Strasse 30, 63073 Offenbach/Main, Germany

Abstract: We focus on manipulating the object of unknown shape, weight and friction properties in hand task. Unlike the traditional method considering the manipulation as multi times grasp planning, we propose the robust and reactive manipulation strategy. Firstly, we design the compact closed-loop control (local controller) to manipulate object in the neighbour area of its current configuration. Then, we employ global planner to manage the role of fingers (active/passive) and modify robot hand to new comfort grasp posture for new local manipulation. A physics-based simulation setup which is similar with real robot hand is used to prove our manipulation concepts - using four fingers manipulate one rotary object in hand. Only commercial available sensors feedback values are used in simulation in order to facilitate the algorithm transferring to real robot platform. Result shows the object can be manipulated in ideal and simulated artificial noise cases.

Keywords: multi-fingered hands; hand manipulation; robot hands; reactive planning; finite state machines; rotary object manipulation; dexterous manipulation; sensor feedback; robot control; comfort grasp posture; robot grasping; simulation.

DOI: 10.1504/IJMA.2013.052624

International Journal of Mechatronics and Automation, 2013 Vol.3 No.1, pp.36 - 47

Available online: 14 Mar 2013 *

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