Grasping ill-perceived objects with the ANTHROBOT robot hand using fuzzy dynamic programming technique

摘要

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.