Coordinated motion generation and real-time grasping force control for multifingered manipulation

In this paper, we propose a unified control system architecture for multifingered manipulation (CoSAM²). CoSAM² achieves simultaneously three objectives of multifingered manipulation: (a) Motion trajectory (velocity/force) tracking of a grasped object; (b) Improving the grasp configuration in the course of object manipulation; and (c) Optimizing grasping forces to enforce contact constraint and compensate for external object wrenches. CoSAM² is organized in a modular and hierarchic structure so that each module implements a specified function using inputs from its predecessors and a minimum number of sensory data signals. CoSAM² is also flexible in accommodating addition of new modules. Here, we give the details for the coordinated motion generation module and the grasping force generation module