Multi-fingered dynamic blind grasping with tactile feedback in a horizontal plane

In this paper we propose a control method for pinching an arbitrary shaped object in a horizontal plane by a multi-fingered robot with arbitrary shaped fingertips. It is assumed that the constraints between the fingertips and the object is rolling and smooth, and each finger contacts with the object at one point. The controller requires no object information, no preplanning and no force sensors. It uses only joint angle, joint angular velocity, contact points (tactile feedback) and the fingers´ link length. The paper begins with an derivation of dynamics of the finger-object system. We propose a stable grasping controller and briefly show the proof of dynamic stability of the system. The simulation results demonstrate that the controller with tactile feedback can easily realize the stable pinching