Solving insertion tasks with a multifingered gripper by fumbling

Part mating with a multifingered gripper mainly comprises two areas, i.e., the control of the gripper or hand and the strategies to solve the task. The problem is made more difficult by the uncertainties from mechanical, sensor or control errors within the gripper system or the parts to be assembled. The authors examine how to find and to realize a hand behavior, which solves the task under the assumption that the system is heavily influenced by the uncertainties mentioned. The problem is solved by a force feedback loop, containing a comparatively simple mathematic description of strategies applied in parallel. The proof of the efficiency of the approach is given. Results of various experiments are presented