Simulating dextrous manipulation of a multi-fingered robot hand based on a unified dynamic model

A dynamic simulator can facilitate developments and applications of a multi-fingered robot hand. Existing dynamic simulators cannot effectively simulate dextrous manipulation of a multi-fingered robot hand due to the lack of capability to cope with frequent changes in contact constraints and grasping configurations as well as impulsive collision occurring during manipulation. We propose a unified framework to model free motions, collisions, and different contact motions including sticking, rolling, and sliding. Furthermore, a new transition model is also proposed to handle transitions between these contact motions. Based on our unified dynamic model, a 3D dynamic simulator has been developed to simulate dextrous manipulation tasks involving combination of different contacts. The simulation results presented confirm the validity of the dynamic model as well as efficiency of the developed simulator.