Multifingered robot hands: Control for grasping and manipulation

被引：103

作者：

Yoshikawa, Tsuneo ^{[1
]}

机构：

[1] Ritsumeikan Univ, Dept Human & Comp Intelligence, Shiga 5258577, Japan

来源：

ANNUAL REVIEWS IN CONTROL | 2010年 / 34卷 / 02期

关键词：

Multifingered robot hand; Grasping; Manipulation; Impedance control; Hybrid control; Soft-fingered hand; POSITION-FORCE CONTROL; IMPEDANCE CONTROL; SOFT FINGERS; DYNAMICS; MODEL;

D O I：

10.1016/j.arcontrol.2010.09.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robot hands have been one of the major research topics since the beginning of robotics because grasping and manipulation of a variety of objects by robot hands are fundamental functionalities of various robotic systems. This paper presents a survey on the current state of research on control of grasping and manipulation by multifingered robot hands. After a brief history of the hardware development of multifingered robot hands, representative theoretical research results are presented in the area of grasping and manipulation. Regarding grasping, basic analytical concepts including force/form closures and active/passive closures are explained and various grasp quality measures for grasping position optimization are introduced. Regarding manipulation, the hybrid position/force control method and impedance control method are presented. Some of our recent results on grasping and manipulation by a soft-lingered hand are also presented. Finally, some future research directions are discussed. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：199 / 208

页数：10

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