Adaptive Coordinated Control of Multi-Fingered Robot Hand

Abstract

This paper presents an adaptive control for a multi-fingered robot hand with rolling contact to a grasped rigid object, and demonstrates experimental results. In the proposed controller, the dynamic parameters of both the object and multi-fingered robot hand are estimated adaptively. The joint reference velocity consists of filtered contact force error, integral contact force error, and object reference velocity. The asymptotic convergence of object motion and contact force was proven by the Lyapunov-like Lemma. The controller performance is shown in experiments implemented on Gifu Hand III.