Teaching system for multifingered robot hands using kinetic information of manipulated objects

This paper proposes a teaching system for multi-fingered robot hands by using kinetic information of target objects with visual feedback. The purpose of this system is to operate multi-fingered robot hands with high DOF mechanisms intuitively and effectively. The system calculates the appropriate trajectory of the fingers according to the kinetic information of the target object under the twist rolling contact constraint. In addition, force and visual feedback control is adopted for more accurate and stable manipulation. This paper describes the results of the experiments by using the developed teaching system, and the future works to be improved are discussed.