1A1-B09 Dynamic object manipulation by a multi-joint hand-arm system with redundant DOFs

Abstract

A simple control method for realizing dynamic object manipulation by a hand-arm system with redundant DOFs is proposed, which need not introduce any performance indices to solve inverse kinematics uniquely and Jacobian pseudoinverse. The proposed control signal is composed of superposition of three control signals for damping shaping, secure pinching, and object manipulation. It is shown through computer simulations that synergistic choice for damping parameters based on "Virtual spring-damper hypothesis," which is proposed in physical analysis of human reaching movements, can work well even in the case of object manipulation by the redundant hand-arm system.