Manipulation of compliant objects with compliant fingerpads in the presence of nonlinear dynamics

For tasks that require grasping and manipulation of unknown objects, it is crucial for the robot end-effector to be compliant to increase grasp stability and manipulability. The dynamic interactions that occur between such compliant end-effectors and deformable objects that are being manipulated can be described by a class of nonlinear systems. Algorithms for grasping and manipulation of these objects by using adaptive feedback techniques are determined. Methods for identification, control, and adaptive control of the underlying nonlinear system are described. It is shown that standard geometric techniques for exact feedback linearization techniques are inadequate, but that globally stable adaptive control algorithms can be determined by making use of the stability characteristics of the underlying nonlinear dynamics