Estimation of object gravity and wrench exerted on object using multifingered hand with force/torque sensors

摘要

From the point of view of real application of multifingered hand, the problem of estimating the gravity of a grasped object and the wrench exerted on the object on the object by the external environment, using multi- fingered hand equipped with force/torque sensors, is addressed. At first the problem is modeled mathemat- ically by the concept of wrench, then gravitational effect of fingertips is taken into accounted to eliminate the biasing effect in real implementation. On experimental system HKUST HAND, some experiments are carried out to implement and verify the proposed approach. This is an introduction to real application of multifingered hand, such as assembly of parts.