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This paper characterizes the dynamic deformation of soft fingertips applied to multi-fingered object manipulations of humanoid robots and analyzes its significance for multi-fingered operations. To this end, we present a dynamic model for soft-fingered object manipulations. For analyzing the control performance of soft-fingered manipulating tasks, we present a dynamic manipulation control scheme that considers the deformation effects of soft fingertips. The simulation results validate the influence of the dynamic deformation of soft fingertips during manipulation in a two-fingered operation, and will enable us to recognize its significance for precise manipulating tasks.
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on (Volume:3 )
Date of Conference: 26 April-1 May 2004