Two-fingered full envelope dexterous manipulation

Author

Reynaerts, Dominiek ; Van Brussel, Hendrik

Author_Institution

Div. of Prod. Eng., Katholieke Univ. Leuven, Hervelee, Belgium

fYear

1993

fDate

2-6 May 1993

Firstpage

436

Abstract

A method for full-envelope-rolling manipulation using a two-fingered robot hand is described. Full envelope refers to the use of the complete phalangeal surface during manipulation. A two-dimensional model for modeling an object manipulation is proposed. It is based on a study of the movement of the contact line between index and thumb. The method uses tactile sensor information to estimate the contact point position together with the local curvature of the object. This full envelope dexterous manipulation is demonstrated on a two-fingered hand. This hand consists of a tendon-driven index and thumb, equipped with force and tactile sensors within five degrees-of-freedom. The dimensions and performance of this device are human sized. A hybrid force position control scheme is used. The hierarchical control structure is implemented on a dual transputer system

Keywords

manipulators; position control; tactile sensors; complete phalangeal surface; contact point position; full-envelope-rolling manipulation; hierarchical control structure; hybrid force position control scheme; local curvature; object manipulation; tactile sensor information; tendon-driven index; transputer system; two-dimensional model; two-fingered hand; two-fingered robot hand; Design automation; Force sensors; Humans; Production engineering; Robot kinematics; Robotics and automation; Sensor arrays; Tactile sensors; Tendons; Thumb;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291918

Filename

291918