15 DOF Robotic Hand Fuzzy-Sliding Control for Grasping Tasks
We present a grasp control scheme for an anthropomorphic multi-fingered robotic hand (kinematic structure similar to the human hand) with five fingers and 15 DOF that use different control surfaces according to the system state and the expected response. The responses of each surface are combined into a single structure using a fuzzy control scheme. We define a general behavior for all fingers, which act independently, it allows that the hand adapts to the shape of the object. To reduce the computational complexity, we established only five internal control blocks, one for each finger; the mechanical actuator distributes the control action along the finger joints. This robot hand can grasp various objects steadily and achieve manipulations with a very simple mechanism. Algorithm effectiveness has been tested on a real robotic prototype.
KeywordsGrasping control Robotic hand Sliding mode control
This work was supported by the District University Francisco Jos de Caldas, in part through CIDC, and partly by the Technological Faculty. The views expressed in this paper are not necessarily endorsed by District University. The authors thank the research groups DIGITI and ARMOS for the evaluation carried out on prototypes of ideas and strategies, and especially Andrés Felipe García Guerrero and Andrés Julian Becerra for the support in the development of the prototype.
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