Approach to Stable Grasping of Multi-fingered Robot Hand Based on Slip Sensor

Yuan Kui; Yu Che; Yuan Xingjun; Guo Feng; Huang Zihe

doi:10.13374/j.issn1001-053x.1998.03.047

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Article Navigation > Chinese Journal of Engineering > 1998 > 20(3): 291-295

Yuan Kui, Yu Che, Yuan Xingjun, Guo Feng, Huang Zihe. Approach to Stable Grasping of Multi-fingered Robot Hand Based on Slip Sensor[J]. Chinese Journal of Engineering, 1998, 20(3): 291-295. doi: 10.13374/j.issn1001-053x.1998.03.047

Citation:

Yuan Kui, Yu Che, Yuan Xingjun, Guo Feng, Huang Zihe. Approach to Stable Grasping of Multi-fingered Robot Hand Based on Slip Sensor[J]. Chinese Journal of Engineering, 1998, 20(3): 291-295. doi: 10.13374/j.issn1001-053x.1998.03.047

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Approach to Stable Grasping of Multi-fingered Robot Hand Based on Slip Sensor

doi: 10.13374/j.issn1001-053x.1998.03.047

Information Engineering School, UST Beijing, Beijing 100083, China

Received Date: 1997-09-30
Available Online: 2021-08-27

Abstract

Abstract

A slip sensing method for multi-fingered robot hand is proposed which is realized by detecting the changes of force sensors on the robot hand. Stable grasping of an object based on slip sensing can be obtained by combining the slip sensing algorithm with the force control algorithm and using the idea of multi-level fuzzy control.
- multi-fingered robot hand,
- slip sensing,
- fuzzy control,
- stable grasping