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Optimal object grasp using tactile sensors and fuzzy logic

Published online by Cambridge University Press:  01 November 1999

Venketesh N. Dubey ,
Richard M. Crowder  and
Paul H. Chappell
Venketesh N. Dubey
Affiliation:
School of Computing Engineering and Technology, University of Sunderland, Edinburgh Building, Chester Road, Sunderland SR1 3SD (UK)
Richard M. Crowder
Affiliation:
Department of Electrical Engineering, University of Southampton, Southampton SO17 1BJ (UK)
Paul H. Chappell
Affiliation:
Department of Electrical Engineering, University of Southampton, Southampton SO17 1BJ (UK)
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Abstract

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.

Keywords

Object graspTactile sensorsFuzzy logicFingertip forceRobot controller
Type
Research Article
Information
Robotica , Volume 17 , Issue 6 , November 1999 , pp. 685 - 693
Copyright
© 1999 Cambridge University Press

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