Tactile-based blind grasping: Trajectory tracking and disturbance rejection for in-hand manipulation of unknown objects

Abstract

Tactile-based blind grasping refers to a realistic grasping scenario where the robotic hand has no knowledge of the object, and only has access to on-board sensors. This scenario is representative of real-world applications (e.g prosthetics) where high resolution cameras and other external sensors are not available to the robotic hand as they would be in a structured, laboratory setting. At present, there is no manipulation control that can track a reference object trajectory in tactile-based blind grasping. In this paper, a robust trajectory tracking controller is proposed to enhance the manipulation capabilities of robotic hands in tactile-based blind grasping. The proposed control ensures..