Journal
ANNUAL REVIEWS IN CONTROL
Volume 34, Issue 2, Pages 199-208Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.arcontrol.2010.09.001
Keywords
Multifingered robot hand; Grasping; Manipulation; Impedance control; Hybrid control; Soft-fingered hand
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Robot hands have been one of the major research topics since the beginning of robotics because grasping and manipulation of a variety of objects by robot hands are fundamental functionalities of various robotic systems. This paper presents a survey on the current state of research on control of grasping and manipulation by multifingered robot hands. After a brief history of the hardware development of multifingered robot hands, representative theoretical research results are presented in the area of grasping and manipulation. Regarding grasping, basic analytical concepts including force/form closures and active/passive closures are explained and various grasp quality measures for grasping position optimization are introduced. Regarding manipulation, the hybrid position/force control method and impedance control method are presented. Some of our recent results on grasping and manipulation by a soft-lingered hand are also presented. Finally, some future research directions are discussed. (C) 2010 Elsevier Ltd. All rights reserved.
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