A Unified Approach for Multi-Fingered Manipulation with Non-Sliding Contact in a Horizontal Plane

To date, many control algorithms have been proposed for grasping of rigid objects, through fixed or rolling contact in a horizontal plane, by multi-fingered robotic hands. However, these non-sliding contacts have not been considered in a single model. Here, by examining kinematics, we present a single model for both fixed and rolling contacts in a horizontal plane, and show that a fixed point contact is a special case of a rolling contact. We introduce a blind grasping algorithm with tactile feedback, and show that the algorithm does not require any tactile feedback in the case of a fixed point contact. Numerical simulations show that the algorithm is applicable for stable pinching with non-sliding contact