Hierarchical Control Method for Manipulating/Grasping Tasks using Multi-fingered Robot Hand

Kazuto Imazeki, Takashi Maeno

Research output: Contribution to conferencePaper

Abstract

In this paper, we propose a hierarchical control method for manipulation/grasping tasks using multi-fingered robot hands. This method imitates human motion control. Human motion can be divided into two classes, reflex and voluntary movement. Reflex is suppressed by voluntary movement. In the proposed method, a robot hand's grasping control corresponds to human reflex and manipulation control corresponds to voluntary movement. We constructed a controller composed of a manipulation controller, grasping controller and suppresses. The grasping controller has fast feedback but can only execute simple motion. The manipulation controller has slow feedback, and can execute complex motion. Finally, the validity of the hierarchical method is confirmed by computer simulation of various tasks, i.e. grasping, manipulation, and re-grasping motion.

Original languageEnglish
Pages3686-3691
Number of pages6
Publication statusPublished - 2003 Dec 26
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: 2003 Oct 272003 Oct 31

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period03/10/2703/10/31

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Imazeki, K., & Maeno, T. (2003). Hierarchical Control Method for Manipulating/Grasping Tasks using Multi-fingered Robot Hand. 3686-3691. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.