Manipulation with a multi-fingered robot hand based on cooperation of finger primitive operations

This paper describes a grasping operation with a multi-fingered robot hand by cooperation of primitive finger operations. We define functional unit operation realized by one or more fingers in cooperation as a primitive operation. And when a grasping operation consists of two or more primitive operations and fingers are used in separate primitive operations, we call this ldquofunctional finger isolation.rdquo Various grasping operations can be realized by assigning different primitive operations to the functional finger isolation pattern. We describe the primitive operations using a combination of software modules running in our multi-fingered robot hand system. We demonstrate that some grasping operations are realized by the cooperation of primitive operations.