A multi-fingered robotic hand with curved fingertips enables contact re-positioning without reat-taching at the expense of fingertip rolling. This rolling stands for a characteristic that facilitates dexterous manipulation but results in an algebraically complex dynamic model subject to such constraints. The hemispherical shape of fingertips allows a dexterous manipulation when controlling the tangent forces, which are essential to rotate object. However, the measurement of the object angle in practice requires tactile-optical sensing. In this paper, considering robotic fingers with curved soft tips, we propose a feedback control that ensures optimal dynamical grasping of a circular rigid object. It is shown that the collaboration of the contact forces, to get a minimum pose of internal forces, and the tangential forces, to induce the conditions for assuring the grasp closure, is necessary to get a skillful manipulation. In this case, the orientation control of a circular object to the desired angle while avoiding direct measurement of the object angle is presented. Stability conditions of the system are presented in the sense of stability-in-the-manifold. Finally, representative simulations are shown and discussed.

带有弯曲指尖的多指机械手可以重新定位触点，而无需重新锁定，而以滚动指尖为代价。该滚动代表有利于灵巧操纵的特征，但是导致受这种约束的代数复杂的动力学模型。指尖的半球形形状在控制切线力时允许进行灵巧的操作，这对于旋转对象至关重要。但是，实际上，对物角的测量需要触觉光学感测。在本文中，考虑具有弯曲软尖的机器人手指，我们提出一种反馈控制，以确保最佳地动态抓握圆形刚性物体。结果表明，为了获得最小的内力姿势和切向力，接触力共同作用，诱导确保抓握闭合的条件，这是获得熟练操作的必要条件。在这种情况下，提出了将圆形物体定向到期望角度的控制，同时避免直接测量物体角度。系统的稳定性条件以流形的稳定性来表示。最后，显示并讨论了代表性的仿真。