Control and Information Process for Multi-Fingers Robot to Acquire Dexterous Grasping and Manipulation

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The results obtained during this project are as follows.1) Control for Stable Grasping and Dexterous ManipulationDynamical constraints on the mechanical system of multi-fingers robot with object depend on how each finger touches to the object: the contact point is fixed or moving with rolling or slipping. By taking those into consideration and from physical view, we were trying to derive a new feedback control low far the stable picking and dexterous manipulation. And also we developed a dynamical model for the multi-fingers robot to grasp an object with contact condition changing, then a lot of knowledge have been obtained on hybrid control of position and force, adaptive control for under-actuated systems, etc.2) Leaning Mechanism for Multi-fingers Robot to Acquire Dexterous SkillIt was shown that non-holonomic Hamiltonian systems can be stabilized by dynamic output feedback, and also it was proven by simulations and experiments that the repetitive control is useful even for non-holonomic Hamiltonian systems. Moreover, the conventional repetitive control was modified to work well in the hybrid control of multi-links systems.3) Estimation Method of Object's Position and Orientation by Sensor IntegrationIn order to control the multi-fingers robot dexterously, accurate information on position of each contact point between each finger and object is needed; thus we established a sensor integration method of force sensors on each finger's tip and two CCD cameras to estimate each finger's contact information and the object's orientation. Moreover, a relation between strain and force of soft-finger tip is modeled in a certain form of nonlinear function and it was verified by experiment that the model works very well.