Force distribution in multiple whole-limb manipulation

Robotic systems composed of multiple actuated limbs (such as arms, fingers, or legs) cooperating in the manipulation of an object are discussed. The problem of decomposing the system of contact forces exerted between the robot limbs and the object in order to apply a desired resultant force on the object (and/or to resist external disturbances) is studied. Enveloping (or whole-limb) manipulation operations that exploit any part of the limbs to contact the object are considered. A study of the internal grasping forces, which may be actively controlled to increase grasp stability), is presented