Fuzzy controlled object manipulation using a three-fingered robotic hand

Use of underactuated fingers to conduct precision, in-hand manipulation is a common topic of recent robotics research, mostly due to their relatively light weight and simplicity of use. Grasping operations are facilitated by compliant joints however precise, in-hand manipulation is more challenging since post-grasp orientation of an object varies. Underactuated, robotic-fingered hands that are capable of predictable grasping are one step closer to human-like end-effectors. This paper presents a new effort towards effective robotic manipulation using two underactuated fingers and one fully actuated robotic thumb with 3 degrees of freedom (DOF). Fuzzy grasping using tactile feedback is used to provide an enhanced stable grasp solution. The system comprises tactile feedback, orientation of underactuated phalanges using flexible joints, and thumb trajectory planning.

[1]  Ling Xu,et al.  Physical Human Interactive Guidance: Identifying Grasping Principles From Human-Planned Grasps , 2012, IEEE Transactions on Robotics.

[2]  Karun B. Shimoga,et al.  Robot Grasp Synthesis Algorithms: A Survey , 1996, Int. J. Robotics Res..

[3]  Ravi Balasubramanian,et al.  The Human Hand as an Inspiration for Robot Hand Development , 2014, Springer Tracts in Advanced Robotics.

[4]  Aaron M. Dollar,et al.  Unplanned, model-free, single grasp object classification with underactuated hands and force sensors , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[5]  Emil M. Petriu,et al.  Biology-inspired multimodal tactile sensor system , 2011, 2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE).

[6]  Ferdinando Cannella,et al.  In-hand precise twisting and positioning by a novel dexterous robotic gripper for industrial high-speed assembly , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[7]  Mark R. Cutkosky,et al.  On grasp choice, grasp models, and the design of hands for manufacturing tasks , 1989, IEEE Trans. Robotics Autom..

[8]  Richard M. Crowder,et al.  Optimal object grasp using tactile sensors and fuzzy logic , 1999, Robotica.

[9]  Just L. Herder,et al.  Ability to hold grasped objects by underactuated hands: Performance prediction and experiments , 2009, 2009 IEEE International Conference on Robotics and Automation.

[10]  Thea Iberall,et al.  Dextrous robot hands , 1990 .

[11]  Marco Ceccarelli,et al.  Analysis and grasp strategy modeling for underactuated multi-fingered robot hand , 2009, 2009 International Conference on Mechatronics and Automation.

[12]  Mirna Issa,et al.  Adaptive neuro fuzzy controller for adaptive compliant robotic gripper , 2012, Expert Syst. Appl..

[13]  Clément Gosselin,et al.  Stable Precision Grasps by Underactuated Grippers , 2011, IEEE Transactions on Robotics.

[14]  Jianwei Zhang,et al.  In-hand haptic perception in dexterous manipulations , 2014, Science China Information Sciences.

[15]  Aaron M. Dollar,et al.  Stable, open-loop precision manipulation with underactuated hands , 2015, Int. J. Robotics Res..

[16]  Aaron M. Dollar,et al.  Open-Loop Precision Grasping With Underactuated Hands Inspired by a Human Manipulation Strategy , 2013, IEEE Transactions on Automation Science and Engineering.

[17]  Charalampos P. Bechlioulis,et al.  Task-specific grasp selection for underactuated hands , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[18]  Clément Gosselin,et al.  Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[19]  Kaspar Althoefer,et al.  Tactile sensing for dexterous in-hand manipulation in robotics-A review , 2011 .

[20]  Mariapaola D'Imperio,et al.  A novel bio-inspired modular gripper for in-hand manipulation , 2015, 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[21]  Andrew T. Miller,et al.  Integration of Vision , Force and Tactile Sensing for Grasping , 1999 .

[22]  Imin Kao,et al.  Grasping, manipulation, and control with tactile sensing , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[23]  Jianwei Zhang,et al.  Haptic and visual perception in in-hand manipulation system , 2015, 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO).