Coordinated motion generation for multifingered manipulation using tactile feedback

摘要

Dextrous manipulation is an important issue in the study of multifingered robotic hands. Determining the contact velocities in dextrous manipulation with rolling contact is the key problem. We propose a coordinated manipulation scheme in which the contact velocities are determined by tactile sensor feedback. We address coordinated motion generation which maintains or improves the grasp quality in dextrous manipulation. We implement several experiments using the HKUST three-fingered robotic hand. The experimental results illustrate the effectiveness of the proposed scheme.