Grasp and manipulation by soft finger with 3-dimensional deformation

摘要

In this paper, we consider control of grasp and manipulation of an object in 3-dimensional space by a 3-fingered hand robot with soft finger-tips. We firstly propose a 3-dimensional deformation model of a semispherical soft fingertip and confirm its relevance by experiments. Second, we derive the rolling contact kinematics and the dynamical equations of the fingers and the object where the 3-dimensional deformation is considered. For the system, we thirdly propose a method to regulate the object and the internal force with the information of the hand, the object and the deformation. Simulations are shown to prove the effectiveness of the control method.