The Planning and Control of Robot Dextrous Manipulation
Li Han
TAMU
|
Zexiang Li
HKUST
|
Jeffrey C. Trinkle
TAMU
|
Zhiqiang Qin
HKUST
|
Shilong Jiang
HKUST
|
Abstract
Dextrous manipulation is a fundamental problem in the study
of multifingered robotic hands. Given a robotic hand and an object
to be manipulated by the hand in an environment filled
with obstacles, the main objectives of dextrous manipulation
are to have the hand grasp the object and transfer it from a
start configuration to a goal configuration without collision.
To fulfill such a task in general, we
will need: (a) a manipulation planner to generate a feasible path for
the hand; and (b) a controller to implement the planned path. In this
overview paper, we define the manipulation planning problem and
present a unified Control System Architecture for Multifingered
Manipulation (CoSAM2). By incorporating the various kinematic and
static relationships of a multifingered robotic hand system with proper
sensory data inputs at different stages, CoSAM2 achieves the various
objectives of dextrous manipulation.
Theoretical background of the control system
design along with real-time experimental results are described.
(
Full Paper in pdf)
Back to Li's
homepage or
publications.