MULTIFINGER HAND-ARM COOPERATION CONTROLLING METHOD BASED ON DYNAMIC COMPLIANCE DISTRIBUTION

摘要

PURPOSE: To efficiently combine characteristics of a hand and an arm together so as to accomplish a stable gripping action in a wide operation area in cooperation control of compliance for a multifinger hand and for an arm to which the multifinger hand is mounted. CONSTITUTION: When compliance control for a hand and for an arm in a multifinger hand-arm are respectively carried out, displacement of an object gripped by means of the multifinger hand-arm is detected, and according to the displacement, compliances Ch, Ca to be distributed to the multifinger hand and to the arm individually are changed dynamically. As for these changes, increase in the compliance Ch for the hand and decrease in the compliance Ca for the arm are carried out if the displacement of the object is small, while decrease in the compliance Ch for the hand and increase in the compliance Ca for the arm are carried out if the displacement of the object is great, and between these two conditions, both of the compliances Ch, Ca are gradually changed.