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JRM Vol.21 No.1 pp. 36-43
doi: 10.20965/jrm.2009.p0036
(2009)

Paper:

Adaptive Coordinated Control of Multi-Fingered Robot Hand

Satoshi Ueki, Haruhisa Kawasaki, and Tetsuya Mouri

Gifu University, 1-1 Yanagido Gifu, Japan

Received:
February 29, 2008
Accepted:
July 4, 2008
Published:
February 20, 2009
Keywords:
multi-fingered robot hand, object manipulation, adaptive control
Abstract

This paper presents an adaptive control for a multi-fingered robot hand with rolling contact to a grasped rigid object, and demonstrates experimental results. In the proposed controller, the dynamic parameters of both the object and multi-fingered robot hand are estimated adaptively. The joint reference velocity consists of filtered contact force error, integral contact force error, and object reference velocity. The asymptotic convergence of object motion and contact force was proven by the Lyapunov-like Lemma. The controller performance is shown in experiments implemented on Gifu Hand III.

Cite this article as:
Satoshi Ueki, Haruhisa Kawasaki, and Tetsuya Mouri, “Adaptive Coordinated Control of Multi-Fingered Robot Hand,” J. Robot. Mechatron., Vol.21, No.1, pp. 36-43, 2009.
Data files:
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