Abstract
The purpose of this paper is to propose a new method of the adaptive grasping for multifingered hands with the constraints of static friction and the joint torques, under the repeated manipulation tasks. First, the manipulating and grasping forces of two fingered hands and the dynamic manipulation/grasping controller based on these forces, which have been proposed by authors, are introduced. This controller makes it possible to be given the desired grasp parameter which determine the grasping force, in spite of the desired trajectory of the object. Second, the scalar functions for evaluation of the manipulation and the grasping are defined, and the effects on them by the given grasp parameter are shown. Then, a new algorithm of the adaptive grasping based on these functions is proposed. This algorithm realizes the desired manipulation without slip of the fingertips, adjusting the grasp parameter to the specified manipulation task. Finally, the effectiveness of the proposed method is shown by several experiments.
