Fuzzy Controlled Object Manipulation using a Three-Fingered Robotic Hand

被引：0

作者：

da Fonseca, Vinicius Prado ^{[1
]}

Kucherhan, Daniel John ^{[1
]}

de Oliveira, Thiago E. Alves ^{[1
]}

Zhi, Da ^{[1
]}

Petriu, Emil M. ^{[1
]}

机构：

[1] Univ Ottawa, Sch Elect Engn & Comp Sci, Ottawa, ON, Canada

来源：

2017 11TH ANNUAL IEEE INTERNATIONAL SYSTEMS CONFERENCE (SYSCON) | 2017年

基金：

加拿大自然科学与工程研究理事会;

关键词：

underactuated fingers; tactile feedback; fuzzy control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Use of underactuated fingers to conduct precision, in-hand manipulation is a common topic of recent robotics research, mostly due to their relatively light weight and simplicity of use. Grasping operations are facilitated by compliant joints however precise, in-hand manipulation is more challenging since post-grasp orientation of an object varies. Underactuated, robotic-fingered hands that are capable of predictable grasping are one step closer to human-like end-effectors. This paper presents a new effort towards effective robotic manipulation using two underactuated fingers and one fully actuated robotic thumb with 3 degrees of freedom (DOF). Fuzzy grasping using tactile feedback is used to provide an enhanced stable grasp solution. The system comprises tactile feedback, orientation of underactuated phalanges using flexible joints, and thumb trajectory planning.

引用

页码：346 / 351

页数：6

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