Rotary Surface Object Manipulation by Multifingered Robot Hand

Abstract

We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties\n– prerequisites which are necessary for classical offline grasping and manipulation methods. With this strategy, the object\ncan be manipulated in hand in a large scale,(eg. to rotate the object 360 degree) regardless whether there is rolling or\nsliding motion between the fingertips and object. The proposed control strategy employs estimated contact point locations,\nwhich can be obtained from modern tactile sensors with good spatial resolution. The feasibility of the strategy is proven\nin simulation experiments employing a physics engine providing exact contact information. However, to motivate the\napplicability in real world scenarios, where only coarse and noisy contact information will be available, we also evaluated\nthe performance of the approach when adding artificial noise.