Object Manipulation by Multi-fingered Robot Hand with Soft Fingertips

提出了柔性指尖在惯性力作用下的变形动力学模型，并提出了两种多指手操纵物体的控制方法。利用类李雅普诺夫引理证明了物体位置、方向和接触力的渐近收敛性。仿真结果和实验结果表明了所提出的控制器的有效性。

This research proposed a dynamics of deformation of soft fingertips with inertia force, and proposed two control methods for object manipulation by multi-fingered hand. The asymptotic convergence of object position, object orientation and contact force is proven by the Lyapunov-like Lemma. The simulation results and experiment results shows the effectiveness of proposed controllers.