Object stable grasping control by dual robotic fingers with soft rolling contacts

The control of object stable grasping and pose regulation by two robotic fingers with soft rolling contacts is considered. The motion of the dual fingers is confined to the horizontal plane and is not affected by the gravity force. A simple feedback control law is proposed with the task to achieve a desired normal contact force and appropriate tangential forces to ensure a dynamically stable grasp. The nonlinear asymptotic stability of the closed loop system is proved. Simulation results for two 3-DOF fingers manipulating a rectangular object from an initial state to a final stable grasp configuration demonstrate the effectiveness of the controller.