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ESTIMATION OF OBJECT GRAVITY AND WRENCH
EXERTED ON OBJECT
USING MULTIFINGERED
HAND WITH FORCE/TORQUE SENSORS
Guan Yisheng
Zhang Qixian
Robotics Research Institute, Beijing University of Aeronautics
and Astronautics
Li Zexing
Hong Kong University of Science and Technology
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Abstract:
From the point of view of real application of multifingered
hand, the problem of estimating the gravity of a grasped object
and the wrench exerted on the object by the external
environment, using multifingered hand equipped with force/torque
sensors, is addressed. At first the problem is modeled
mathematically by the concept of wrench, then gravitational
effect of fingertips is taken into accounted to eliminate the
biasing effect in real implementation. On experimental system
HKUST HAND, some experiments are carried out to implement and
verify the proposed approach. This is an introduction to real
application of multifingered hand, such as assembly of parts.
Key words: Multifingered
hand Estimation Object gravity Wrench
Manuscript received on
June 3, 1997; revised manuscript September 1, 1997
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