Dynamic movement by admittance control of a multi-finger-arm robot with manipulability control of fingers

Cooperative control algorithms for a redundant finger-arm robot were proposed in a previous study, based on the movement of the human hand-arm system. With these algorithms, the finger-arm robot arm was able to complete a constrained task by integrating admittance control and impedance control with the manipulability control of the fingers. The manipulability of the fingers was controlled using both an approximate global search (i.e., the top search method) and a local optimization method. However, the dynamic characteristics of these methods have not yet been studied. In this study, the conventional cooperative control algorithms were developed further by extending them to dynamic movement in the admittance control of a redundant multi-finger-arm robot with manipulability control of the fingers. We clarified the relationship between the feasibility of the virtual dynamics and the motion speed, as well as the range of the achievable virtual dynamics. This paper evaluates and discusses the proposed methods in terms of the finger manipulability control. The experimental results show that the algorithms responded to more dynamic movement, and a broader range of virtual dynamics was achievable.