触覚フィードバックを用いた多指ハンドによる未知形状物体の転がり接触を考慮した操り制御

抄録

A new trajectory planning method using tactile feedback is investigated for the manipulation of an object by a multifingered hand where the fingertips and the object make rolling contact. The proposed control algorithm is capable of determining the motion of each finger so that the object is manipulated along the desired trajectory according to the tactile feedback at the fingertip of the hand. The advantage of the algorithm developed here is that geometrical information about the object to be manipulated is not necessary and therefore can be applied to the manipulation of an unknown object.
First, the mathematical model concerning the kinematics of the manipulation with rolling contact at the fingertip is formulated. Next, assuming that the fingertips are equipped with a tactile sensor for detecting the location of the contact, the trajectory planning algorithm for the fingertips is derived. Finally, the previously developed finger-shaped tactile sensor using an optical waveguide is installed on the two-fingered hand, and the superiority of the proposed manipulation algorithm is confirmed through computer simulations and experiments.