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Abstract
  • In this paper, the authors proposed a novel reactive
    strategy to solve a unknown object local manipulation problem
    with an multifingered robot hand. In this method, the micro
    manipulation assumption is proposed and the object can be
    manipulated within the robot hand workspace without the active
    and explicit controlling about the rolling and sliding of the
    fingertips on the object. A 6 D.O.F reactive controller based on
    the hybrid of the contact force and the contact position feedback
    is developed. A three layer hierarchical control structure is
    employed to implement this manipulation strategy. The simulation
    experiment is run based on the physics engine-Vortex, to show the
    feasibility of this method.
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