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

摘要

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.