Grasping Control of Robot Hand Using Fuzzy Neural Network

Abstract

In this paper, we propose a grasping control method for robot hand using fuzzy theory and partially- linearized neural network. The robot hand has Double-Octagon Tactile Sensor (D.O.T.S), which has been proposed in our previous papers, to detect grasping force between the grasped object and the robot fingers. Because the measured forces are fluctuant due to the measuring error and vibration of the hand, the tactile information is ambiguous. In order to quickly control the grasping force to prevent the grasped object sliding out off the robot fingers, we apply the possibility theory to deal with the ambiguous problem of the tactile information, and use the partially- linearized neural network (P.L.N.N) to construct a fuzzy neural network. The method proposed in this paper is verified by applying it to practical grasping control of breakable objects, such as eggs, fruits, etc.