An Object Manipulation by Multi-fingered Robot Hand with Hemispherical Soft Fingertips*

This paper presents a control method of object manipulation by a multi-fingered robot hand with hemispherical soft fingertips. Reflection force, which occurs between the soft fingertips and object, is composed of static elastic force, viscous damping force, and inertia force. The asymptotic convergence of the object position, object orientation and contact force was proven by the Lyapunov-like Lemma. An object-grasping experiment by the human-type robot hand using three fingers is shown.