Title :
Grasping ill-perceived objects with the ANTHROBOT robot hand using fuzzy dynamic programming technique
Author :
Alkan, Meltem ; Erkmen, Aydan M. ; Erkmen, Ismet
Author_Institution :
Dept. of Electr. & Electron. Eng., Middle East Tech. Univ., Ankara, Turkey
Abstract :
This paper introduces the tracking a moving spot and grasping with the thumb and the fore-finger of ANTHROBOT-III using a new method, named the fuzzy dynamic programming technique, where fuzzy state variables, joint angles and joint angular velocities and fuzzy decision variables, joint torques are used to obtain the suboptimal control. The light spot moving on a closed contour is mounted on an object that is invisible to the robot vision system and is defining the object contours in a highly coarse manner
Keywords :
angular velocity control; dynamic programming; fuzzy control; manipulators; robot vision; suboptimal control; tracking; uncertainty handling; ANTHROBOT; fuzzy control; fuzzy decision variables; fuzzy dynamic programming; fuzzy state variables; ill-perceived object grasping; joint angular velocities; joint torques; manipulator; robot hand; robot vision; suboptimal control; tracking; uncertainty handling; Dynamic programming; Fingers; Fuzzy control; Grasping; Robot kinematics; Robot vision systems; Rough surfaces; Shape; Thumb; Uncertainty;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.537736
