Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to realize the three functions of simultaneous finger contact, impact reduction, and contact force control, which enable effective grasping of an unknown object. We accomplish this by using a control framework called multiple impedance control, which was proposed in a previous study. The advantage of this control is that multiple functions can be realized without switching control laws. The previous study achieved two functions, impact reduction and contact force control, with a two layers of impedance control which was applied independently to individual fingers. In this paper, a new idea of virtual dynamics that treats multiple fingers comprehensively is introduced, which enables the function of simultaneous contact without compromising the other two functions. This research provides a method to achieve delicate grasping by using proximity sensors. For the effectiveness of the proposed method, please refer to https://youtu.be/q0OrJBal4yA.

翻译：机器人手抓取未知物体是一项困难任务。当物体特性未知时，难以规划手指收拢的速度与宽度。本文提出一种方法，通过实现同步手指接触、冲击抑制和接触力控制三项功能，从而有效抓取未知物体。我们采用先前研究中提出的多重阻抗控制框架来实现这一目标。该控制的优势在于无需切换控制律即可实现多种功能。先前研究通过两层独立应用于单个手指的阻抗控制，实现了冲击抑制和接触力控制两项功能。本文引入了一种综合处理多手指的虚拟动力学新思路，在不影响其他两项功能的前提下实现了同步接触功能。本研究提供了一种利用接近传感器实现精细抓取的方法。关于所提方法的有效性，请参阅 https://youtu.be/q0OrJBal4yA。