Manipulation by a multi-fingered hand based on integration of visual servoing and internal force servoing

摘要

In this paper, we describe a control method for a multi-fingered hand with uncalibrated vision to manipulate an object. To achieve a robust and quick manipulation without precise calibration, adaptive visual servoing is applied. On the other hand, internal force control also has to be applied to maintain grasping. To integrate these controllers, we utilize the concepts of visual impedance and the principle of virtual work, and eliminate the interference. Experimental results are shown to demonstrate the validity of the proposed scheme.