Adaptive Coordinated Control of Multi-Fingered Hands with Sliding Contact

This paper presents an adaptive coordinated control for multi-fingered robot hands with sliding contact to a grasped rigid object. In the proposed controller, the dynamic parameters of both object and multi-fingered robot hands are estimated adaptively. The dynamic frictional coefficients at contact point are estimated adaptively. The desired motions of the multi-fingered robot hands are generated by an estimated object reference model. The asymptotic convergence of object motion, contact force and object local coordinates is proved by the Lyapunov-like Lemma. Simulation of the object grasping by five-fingered hands is shown