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This paper proposes a novel method for stable grasping and attitude regulation of an object using a multi-fingered hand-arm system. The proposed method is based on a simple sensory-feedback control using the information of an object attitude, and any mathematically complicated computation, such as calculation of inverse dynamics and kinematics, are not required. In addition, the stability of the overall...
A controller for biped running has to consider varying vertical ground reaction force while satisfying the horizontal ground reaction force and moment limits. We propose a design technique for feedback gains to stabilize the upper body position under varying vertical ground reaction force. We also propose an extended model ZMP control method which uses horizontal and rotational acceleration of the...
This paper proposes a novel control method for stable grasping using a multi-fingered hand-arm system with soft hemispherical finger tips. The proposed method is simple but easily achieves stable grasping of an arbitrary polyhedral object using an arbitrary number of fingers. Firstly, we formulate nonholonomic constraints between a multi-fingered hand-arm system and an object constrained by rolling...
This paper proposes a segmentation method of human manipulation task based on measurement of contact force imposed by a human hand on a grasped object. We define an index measure for segmenting a human manipulation task into primitives. The indices are calculated from the set of the contact forces measured at all the contact points during a manipulation task. Then, we apply the EM algorithm to the...
This paper proposes a novel control method for stable object grasping and orientation control using a dual-arm manipulator with multi-fingered hands. The control signal of the proposed method is simple but it can easily achieve stable grasping without external sensors and an orientation control of a grasped object. Firstly, holonomic constraints between a dual-arm manipulator with multi-fingered hands...
This paper proposes a method of directly measuring static constraints imposed by a human hand on a grasped object. Based on the analysis of the demonstration data of the human grasp, the static constraints are expressed as a combination of frictional force and normal force generated by the human hand. The static constraints are an important property to be mapped to robotic hands in the programming-by-demonstration...
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