Grasping and Manipulation of an Object by Two-fingered Robot Hand with Rolling Contact at the Fingertip

—Control of the Object and Contact Points by Using the Nonholonomy of the Constraints—

Abstract

In this paper, we discuss grasping and manipulation of an object by two-fingered robot hand, each of which has six degree of freedom. The contact motion between the object and each fingertips is assumed to be the pure rolling. First, we provide a general formulation of a linearizing compensator for the motion of the object, the grasping force and some of the contact points. Second, we propose a control method which regulates of all contact points by utilizing a closed path of the controlled contact points. Numerical examples are shown to prove the efficiency.