Grasp and transport control for a chopsticks-type robot using work control

Yamasaki, Yoshio; Tsumugiwa, Toru; Yokogawa, Ryuichi

doi:10.1504/ijamechs.2012.045498

Cited by 2 publications

(1 citation statement)

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“…In its daily use, the human hand makes many different types of grasps (opening doors, screwing a screw or lifting a soda can), particularly with the right or dexterous hand [1]. Considering that one of the basic purposes of robotics is that robots work together with human beings, it is normal to think that they should be properly integrated into human environments, and therefore also require this type of grasping [2]. One of the interesting schemes for its duplication by an artificial hand is the cylindrical grasps [3].…”

Section: Introductionmentioning

confidence: 99%

Hybrid fuzzy-sliding grasp control for underactuated robotic hand

Sarmiento¹,

Ariza²,

Jacinto³

2019

TELKOMNIKA

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A major part of the success of human-robots integration requires the development of robotic platforms capable of interacting in human environments. Human beings have an environment designed for their physical and morphological capacity, robots must adapt to these conditions. This paper presents a fuzzy-sliding hybrid grasp control for a five-finger robotic hand. As a design principle, the scheme takes into account the minimum force required on the object to prevent the object from slipping. The robotic hand uses force sensors on each finger to determine the grasp state. The control is designed with two control surfaces, one when there is slippage, the other when there is no slippage. For each surface, control rules are defined and unified by means of a fuzzy inference block. The proposed scheme is evaluated in the laboratory for different objects, which include spherical and cylindrical elements. In all cases, an excellent grasp was observed without producing deformations in the fragile objects.

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Section: Introductionmentioning

confidence: 99%