Coordination and control of multi-fingered robot hands with rolling and sliding contacts

In this paper, the problem of controlling multi-fingered robot hands with r olling and sliding contacts is addressed. Several issues are explored. Thes e issues involve the kinematic analysis and modeling, the dynamic analysis and control, and the coordination of a multi-fingered robot hand system. Ba sed on a hand-object system in which the contacts are allowed to both roll and slide, a kinematic model is derived and analyzed. Also, the dynamic mod el of the hand-object system with relative motion contacts is studied. A co ntrol law is proposed to guarantee the asymptotic tracking of the object tr ajectory together with the desired rolling and/or sliding motions along the surface of the object. A planning approach is then introduced to minimize the contact forces so that the desired motion of the object and the relativ e motions between the fingers and the object can be achieved. Simulation re sults which support the theoretical development are presented.