Control of an object with parallel surfaces by a pair of finger robots without object sensing

Abstract

This paper proposes a method for controlling an object with parallel surfaces in a horizontal plane by a pair of finger robots. The control method can achieve stable grasping, relative orientation control, and relative position control of the grasped object. The control inputs require neither any object parameters nor any object sensing, such as tactile sensors, force sensors, or visual sensors. The control inputs are also quite simple and do not need to solve either inverse kinematics or inverse dynamics. The stability of the closed-loop system is proved, and simulation and experimental results validate the control method.

Dual arm manipulation—A survey

“…SCARA type fixed -wrist F/T 2×3 - [17] 2 planar fingers fixed --2×2 rubber fingerstalls Abbreviations: H = vision system mounted on active head ToF = Time of flight W = vision system fixed in workspace F = force sensor E = vision system on end effector T = torque sensor 8…”

“…In the last decade, effort has been put into designing regulators for the grasping and manipulation of an object by a pair of robotic fingers; this effort can be transferred to the context of dual arm manipulation. In [17] two rigid fingers have been used to control the object position and orientation simultaneously, with rigid object grasping. The stability proof for this is based on passivity and proposes the concepts of stability and transferability on a manifold in order to cope with redundancies.…”

“…The aforementioned concepts do not require the definition of additional tasks and augmented projection method for task prioritization as in [81]. Several extensions on this work have been done to-wards i) control of whole arm and dual arm with fingers for achieving grasping and manipulation ( [82] and [47] respectively), ii) 3D object motion [46], and iii) multiple fingers manipulating an object [17]. The implementations of the aforementioned controllers use estimates of the orientation and position of the objects in order to avoid the use of vision, but position-based visual servoing can also be used.…”

“…Likewise, in an HRI context, it has been argued that since humans have an (a) Semi-anthropomorphic robot at CAS/KTH (b) Dual industrial manipulator SDA10 [14] (c) Mobile Dual manipulator PR2 [15] (d) Double single-arm setup at PRISMA Lab [16] (e) Gripper with two articulated fingers [17] Figure 1: Illustrative examples of different types of dual manipulator setups. All images are used with the permissions of the respective owners.…”

Modeling and Control of Three-Dimensional Grasping by a Pair of Robot Fingers

“…Very recently in 2000s, however, it is shown by the authors' group that grasp of a 2-D rigid object by a pair of multi-DOF fingers can be stabilized dynamically under the gravity effect by taking into account tangential forces induced by rolling contacts [5], [6]. Further, a remarkable result has been shown in the papers [7], [8] that "blind grasping" without using the knowledge of object kinematics or external sensing can be realized, provided that the overall fingers-object movements are confined to a 2-D plane.…”