The intelligent grasping tactics of dexterous hand

In the task of grasping objects with robotic hand, power grasp, also called whole hand grasp, is usually adopted. However, power grasp may incur severe target object deformation. To address this issue, a hybrid control algorithm is proposed, which could control dexterous robotic hand at different stages. When robotic hand does not contact target object, the speed of the fingers increases sharply under the position control law, guaranteeing the rapidness of the system. During the close contact process, the features of tactile data are analyzed and matrix models that corresponds to different types of objects are set up; and then corresponding integral separation PID control law is designed meticulously. The proposed method is verified by the experiment platform, showing a promising performance.