물체의 안정한 조작을 위한 동작의 계획과 운동의 실현

Abstract

This paper presents a motion planning and control method for the dexterous manipulation with arobotic hand. For a given trajectory of an object, a simulation system calculates the necessary jointdisplacements and contact forces at the ?ngertip surfaces. These joint displacements and contact forcesare the reference inputs to the control loops of the robotic ?ngers. A task is decomposed into a set ofprimitive motions, and each primitive motion is executed using the planned output of the simulationsystem as the reference. Force sensors and dynamic tactile sensors are used to adapt to errors anduncertainties encountered during manipulation. Several experimental results are presented.