Object Manipulation Control by Robotic Hand Including Large Periodic Delay of Control Loop

Abstract

This paper shows manipulation control by a two-fingered robotic hand including 100 ms delay within the controller. First, we show the mechanism of the robotic hand having twist-drive actuator for joint actuation. This robot is able to control extremely small fingertip force according to 3 Hz sinusoidal reference trajectory. Finally, we show successful grasping and manipulating motions in the basis of large and small grasping forces during maintaining object orientation.