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Dexterous in-hand manipulation with multi-finger robotic hands is a hot topic in robotics.Recently many famous multi-finger robotic hands have been developed.Though a lot of research has been done on them;in-hand manipulation is still a challenge.One of its issues lies in the uncertainty of interaction states.In this paper we research robot-object interaction from a novel angle called haptic exploration.This method helps robots acquire the ability to explore the robot-object interaction.In in-hand manipulation tasks,haptic exploration is a process where the robot pushes on in-hand objects slightly in different directions,and meanwhile perceives the haptic feedback to estimate the interaction state.In this paper a new single finger push model is proposed for analyzing the haptic feedback,which is similar to traditional impedance control of robot arm.In this model the stiffness of fingers,the deformation on contact surface,and the change of object’s pos(position and attitude)are considered.Furthermore,a push resistance is given to describe the haptic feedback acquired from a slight push.Finally,real robotic experiments are conducted to verify the feasibility of proposed method.
Dexterous in-hand manipulation with multi-finger robotic hands is a hot topic in robotics.Recently many famous multi-finger robotic hands have been developed. Hough a lot of research has been done on them; in-hand manipulation is still a challenge. One of its issues lies in the uncertainty of interaction states. In this paper we research robot-object interaction from a novel angle called haptic exploration. This method helps robots acquire the ability to explore the robot-object interaction. In in-hand manipulation tasks , haptic exploration is a process where the robot pushes on-hand objects slightly in different directions, and meanwhile perceives the haptic feedback to estimate the interaction state. In this paper a new single finger push model is proposed for analyzing the haptic feedback, which is similar to traditional impedance control of robot arm. In this model the stiffness of fingers, the deformation on contact surface, and the change of object’s pos (position and attitude) are consid ered.Furthermore, a push resistance is given to describe the haptic feedback acquired from a slight push. Finally, real robotic experiments are conducted to verify the feasibility of proposed method.