多指ロボットハンドの転がり接触を考慮したセンサレス把持剛性制御

抄録

This paper proposes a grasping stiffness control method using a multi-fingered robot hand. This method does not need any information of a grasped object, such as geometry and attitude. The grasping stiffness is derived from geometrical constraints including rolling contact between a multi-fingered robot hand and a grasped object. To estimate the grasping stiffness without the use of external sensors, a contact point position of each fingertip is estimated by a relative relationship between the initial contact position and a virtual object frame. The proposed method is designed so that the desired grasping stiffness optimally transforms into a joint stiffness, and the desired joint stiffness is realized through each joint angle control. Finally, the usefulness of the proposed method is demonstrated through several numerical simulation results.