Friction, stability and the design of robotic finger
International Journal of Robotics Research
Neural networks and fuzzy systems: a dynamical systems approach to machine intelligence
Neural networks and fuzzy systems: a dynamical systems approach to machine intelligence
Robot grasp synthesis algorithms: a survey
International Journal of Robotics Research
Robotic Grasping and Fine Manipulation
Robotic Grasping and Fine Manipulation
An optimum design algorithm for mechanisms in two-finger grippers
ICS'09 Proceedings of the 13th WSEAS international conference on Systems
Hybrid fuzzy/expert system to control grasping with deformation detection
MICAI'05 Proceedings of the 4th Mexican international conference on Advances in Artificial Intelligence
A compliant self-adaptive gripper with proprioceptive haptic feedback
Autonomous Robots
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Optimal control of fingertip force during grasping operation by multifingered robotic end effectors is an important consideration. Determination of optimal fingertip force is, however, very complicated due to the involvement of a number of contact parameters at the finger-object interface including the mass of the object and the frictional properties of the contact surfaces. Modelling of various contact parameters is computationally overloading, which may not be tenable in practical situations where objects of different mass and material are available. Also for an unknown and unstructured environment, these properties may not be known in advance. This paper presents a controller based on fuzzy logic which is capable of performing optimal grasp of objects without knowing their mass and frictional properties. The controller also accounts for stability and dynamic aspects of the grasp. The experimental results of the implementation are presented.