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Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands
Synergy supplies a practical approach for expressing various postures of a
multi-fingered hand. However, a conventional synergy defined for reproducing
grasping postures cannot perform general-purpose tasks expected for a
multi-fingered hand. Locking the position of particular fingers is essential
for a multi-fingered hand to manipulate an object. When using conventional
synergy based control to manipulate an object, which requires locking some
fingers, the coordination of joints is heavily restricted, decreasing the
dexterity of the hand. We propose a functionally divided manipulation synergy
(FDMS) method, which provides a synergy-based control to achieves both
dimensionality reduction and in-hand manipulation. In FDMS, first, we define
the function of each finger of the hand as either "manipulation" or "fixed."
Then, we apply synergy control only to the fingers having the manipulation
function, so that dexterous manipulations can be realized with few control
inputs. The effectiveness of our proposed approach is experimentally verified.Comment: This paper is submitted to the IROS202