Fuzzy logic grasp control using tactile sensors

• Published in: Mechatronics (Oxford) Vol. 11; no. 7; pp. 899 - 920
• Main Authors: Glossas, N.I, Aspragathos, N.A
• Format: Journal Article
• Language: English
• Published: Oxford Elsevier Ltd 01.10.2001; Elsevier Science
• Subjects: Acceleration; Algorithms; Applied sciences; Computer science; control theory; systems; Control theory. Systems; Exact sciences and technology; Force measurement; Grippers; Robotics; Robustness (control systems); Sensors; Robust control; Fuzzy logic; Fuzzy control; Slippage; Gripper; Control synthesis; Tactile sensor; Monitoring control system; Robotics

This paper presents a method to control a two-fingers gripper for safe grasping of fragile and delicate objects like glass, fruits or vegetables. The proposed control algorithm adjusts the motion of the fingers of a gripper using tactile feedback, so that an object is grasped with the minimal requir...