Characterization and Control of Object Acquisition with a Sensored Robot Hand

This paper presents the thoughts, results and on-going research directed at the characterization, understanding and control of object acquisition using a robot positioned sensored-based hand. The paper overviews the current literature relating to robot hand design, and addresses the questions of: * object characterization, * principles which govern object acquisition, * control design considerations for object acquisition. Preliminary results are presented which show forces associated with uncontrolled object acquisition, finger and object material influence on the transient acquisition forces, and a design for velocity and position control during object acquisition.