Abstract
Manual exploration and manipulation of unknown objects in unstructured environments require sensory guided motor control strategies. For humans or general purpose robots, the presence of compliant fingerpads is crucial in enhancing the stability of grasp and manipulability, and the objects they encounter are often compliant. In this paper, we apply well known system identification and control methods to enable successful grasping and manipulation of compliant objects using compliant fingerpads. Through the use of linear and nonlinear lumped parameter models, we describe the dynamic relationships between the external forces exerted on the fingers and the contact forces imposed on the object. We present two approaches to realize the necessary control actions, one where the identification of the system parameters is followed by control, and the other where an adaptive control strategy is used. We illustrate the importance of tactile information in not only satisfying the necessary interface constraints, but also in simplifying the identification and control procedures for successful performance of grasping and manipulation tasks.
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Annaswamy, A.M., Srinivasan, M.A. (1998). The Role of Compliant Fingerpads in Grasping and Manipulation: Identification and Control. In: Baillieul, J., Sastry, S.S., Sussmann, H.J. (eds) Essays on Mathematical Robotics. The IMA Volumes in Mathematics and its Applications, vol 104. Springer, New York, NY. https://doi.org/10.1007/978-1-4612-1710-7_1
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DOI: https://doi.org/10.1007/978-1-4612-1710-7_1
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