ソフトフィンガー型の多指ハンドによる物体の操りのための接触点における摩擦モーメント補償

抄録

To manipulate an object by a multifingered hand stably, frictions at the contact point should be large enough. Although a soft-finger type contact provides high friction contacts, its frictional moment around the contact normal makes the manipulation control difficult. In this paper, we propose a control scheme to manipulate an object by a multifingered hand with soft fingertips. The proposed scheme cancels the frictional moment around the contact normal according to the direction of the relative rotation between the fingertip and the object.
A necessary and sufficient condition of the frictional moment compensation is derived. Simulation results show the effectiveness of the proposed control scheme.