|Control of Twisting Manipulation Using a Multi-Fingered Robotic Hand with a Common Rotational Axis
Hieyong Jeong* and Yuko Ohno
International Journal of Control, Automation, and Systems, vol. 15, no. 5, pp.2262-2271, 2017
Abstract : "The main purpose of the present study is to prove the usability of a mechanism with a common rotational
axis during twisting manipulation using a multi-fingered robotic hand where two fingers and two other fingers
can independently rotate in inner and outer circles with a dual turning mechanism. Although various types of
conventional multi-fingered hands have potential capability to achieve twisting manipulations such as opening a
bottle cap from within a hand, it is well-known that such tasks are difficult to execute quickly due to limited working
space of the fingers and complexity of control. The proposed hand with a common rotational axis is effective in
rotational manipulation around a particular axis, where each joint role assignment is completely decoupled into
internal force control for grasping an object and velocity control around the axis for rotating the object. We prove
the usability of this mechanism with a common rotational axis through the use of a control scheme, and show
experimental results involving manipulation tasks where twisting manipulation is dominant."
Control decomposition, hand manipulation, hand with a common rotational axis, twisting manipulation.