Grasping control of thumb-index finger model: Lyapunov stability approach

S. K. Song, J. B. Park, Y. H. Choi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper is concerned with the dynamics and control of grasping and regulating motion generated by a thumb index finger robot. Thumb index finger model is the optimized model to manipulate an object without joint redundancy. To manipulate an object, the overall motion of the finger needs to be restricted by the object states. Therefore, we derive the kinematics of model governed by the object states by using four constraints which are based on the nonslipping assumption between the rigid fingertips and the surface of an object. Then, the control input is derived via Lyapunov stability analysis including the dynamics of the overall system. Further, we propose a solution of the contact forces between the fingertips and an object via physical analysis, which can not be solved mathematically. Finally, computer simulations are presented to verify the effectiveness of the proposed concept and method.

Original languageEnglish
Title of host publicationProceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09
Pages132-135
Number of pages4
Publication statusPublished - 2009 Dec 1
Event14th International Symposium on Artificial Life and Robotics, AROB 14th'09 - Oita, Japan
Duration: 2008 Feb 52009 Feb 7

Publication series

NameProceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09

Other

Other14th International Symposium on Artificial Life and Robotics, AROB 14th'09
CountryJapan
CityOita
Period08/2/509/2/7

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All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction

Cite this

Song, S. K., Park, J. B., & Choi, Y. H. (2009). Grasping control of thumb-index finger model: Lyapunov stability approach. In Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09 (pp. 132-135). (Proceedings of the 14th International Symposium on Artificial Life and Robotics, AROB 14th'09).