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Analysis and synthesis of stable grasp by multi-fingered robot hand with compliance control

In this paper, we deal with an analysis and a synthesis of stable grasp by a multi-fingered robot hand with compliance control. The stability of a grasped object by the fingers with linear elastic stiffness is firstly analyzed. A sufficient condition with the gravity effect is driven with respect to the contact points, the elastic coefficients and the mass of the grasped object. A compliance controller with a disturbance observer using force sensors secondly is proposed. The stability of the controller is proved by the Lyapunov stability theorem. The performance of the controller is verified in experiments. Furthermore, it is verified that the grasp by the compliance controller is stable with the sufficient condition.