A Dexterous Manipulation Example with the New RoBioSS Hand

10.6567/IFToMM.14TH.WC.OS13.111

H. Mnyusiwalla；P. Vulliez；J. P. Gazeau；S. Zeghloul

robotic hand ； fine manipulation ； grasp synthesis ； dexterous manipulator ； anthropomorphic hand

Proceedings of the 14th IFToMM World Congress

14th-4（2015 / 11 / 04）

313 - 318

英文

This paper presents a methodology to perform a fine manipulation task with an anthropomorphic hand. We focus here on a three-finger precision grasp. The robotic hand used is the latest four finger fully actuated hand developed by the RoBioSS team of PPRIME institute. Different steps ranging from the generation of the contact points of the hand with the object to the experimental realization of the task are presented. The optimal grasp is found by implementing a genetic algorithm. The fingertips planning for the desired object motion is done by using the small displacement model. The proposed approach is illustrated by the practical experiment of screwing a light bulb with the hand.