Robust whole-hand spatial manipulation via energy maps with caging, rolling, and sliding.

ABSTRACT: Humans regularly use all inner surfaces of the hand during manipulation, whereas traditional formulations for robots tend to use only the tips of their fingers, limiting overall dexterity. In this paper, we explore the use of the whole hand during spatial robotic dexterous within-hand manipulation. We present a novel four-fingered robotic hand called the Model B, which is designed and controlled using a straight-forward potential energy-based motion model that is based on the hand configuration and applied actuator torques. In this way the hand-object system is driven to a new desired configuration, often through sliding and rolling between the object and hand, and with the fingers "caging" the object to prevent ejection. This paper presents the first ever application of the energy model i

SUBMITTER: Bircher WG 

PROVIDER: S-EPMC10704139 | biostudies-literature | 2023

REPOSITORIES: biostudies-literature