Optimal object grasp using tactile sensors and fuzzy logic

摘要

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.