Dynamic Stable Manipulation via Soft-fingered Hand

This study clarifies that secure dynamic manipulation by a pair of soft fingertips can be achieved easily without any information of a grasped object, which is called Blind Manipulation. First, we describe two holonomic constraints and two nonholonomic constraints induced by minimum dof soft-fingered grasping. Next, we represent Lagrangian of the soft-fingered hand system that includes the elastic energy of the fingertip, the four constraints, and also gravity effect. Furthermore, we express equations of motion of the grasped object from the Lagrangian, and simulate the dynamic behavior of the object. Finally, we clarify that the position and posture of the object always converge to a corresponding point when a pair of fingers is freely activated.