Robust dexterous manipulation: a methodology using visual servoing

Proposes a methodology called visual servoing for dexterous manipulation using dexterous hands. Most of the literature on dexterous manipulation follows the classical “planning then control” scheme. A successful outcome is conditional on the perfectly planned fingers´ trajectories. Although tactile sensors have been improved, they are not accurate enough for the object´s pose estimation. Visual servoing can be considered as an attractive solution to the problems described above. Nevertheless, from the stability point of view, the introduction of a camera inside the control loop could lead to an unstable response. Using a DAE (differential algebraic equation) formulation we introduce all the system components. We analyzed some situations that can be efficiently carried out. Finally we conclude by providing a numerical example of a 2D dexterous manipulation guided by the camera information