Manipulation Control of Grasped Object based on Nonholonomy of Rolling Contact by Two-fingered Robot Hand with Constraints on Configuration Coordinates

Abstract

This paper proposes a motion planning method to manipulate an grasped object by a two-fingered robot hand based on the nonholonomy of the rolling contacts. A cubic grasped object is regulated to a target configuration through regulating the contact coordinates between the fingers and object using the holonomy generated by closed paths on spherical finger-tips. The parameters of the closed paths are determined by solving an optimization problem with the constraints which consist of the limitations on the finger-tip/object surfaces and the finger joint configurations. The proposed method is verified by a numerical simulation, where the planned motion is impossible without using the nonholonomy.