Integrated control of a multiple-degree-of-freedom hand and arm using a reactive architecture based on high-speed proximity sensing

摘要

We describe integrated control of a multiple-degree-of-freedom hand and arm using a simple reactive architecture based on high-speed proximity sensing. A proximity sensor installed on each fingertip of the hand detects the positions between the sensor and the surface of an object. By feeding back the sensor outputs, the reactive architecture simultaneously controls the position of the arm tip and the vector connecting the grasping position and the origin of the arm tip coordinates, the wrist posture, and the initial finger configurations before grasping. This architecture makes it possible to correct position errors. In addition, since the positions and postures are controlled without contact, there is no danger of damaging the object or the robot. To realize this integrated control using a simple reactive architecture, we designed a high-speed proximity sensor for the fingertips of the hand, and developed an integrated control system for the hand and the arm. We demonstrate high-speed position adjustment motion and grasping for static and moving objects in experiments.