Title :
Neurofuzzy grasp control of a robotic hand
Author :
Tascillo, A. ; Skormin, V. ; Bourbakis, N.
Author_Institution :
Electr. Eng. Dept., Binghamton Univ. Watson Sch., NY, USA
Abstract :
A best first grasp for a robotic hand with pressure sensing is determined by assigning fuzzy membership values to aspects of candidate grasps attempted with a modified genetic backpropagation neural network controller. Fuzzy logic control is employed to guide finger adjustments as the grasped object begins to trip or slip. Extensions to three dimensions, as well as controller optimization with neural networks, are explored
Keywords :
backpropagation; fuzzy control; genetic algorithms; manipulators; neural nets; neurocontrollers; pressure control; fuzzy logic control; fuzzy membership; genetic backpropagation; manipulators; neural control; neural network controller; neurofuzzy grasp control; optimization; pressure sensing; robotic hand; Backpropagation; Fingers; Fuzzy control; Fuzzy logic; Fuzzy neural networks; Genetics; Neural networks; Pressure control; Robot control; Robot sensing systems;
Conference_Titel :
Neural Networks for Processing [1993] III. Proceedings of the 1993 IEEE-SP Workshop
Conference_Location :
Linthicum Heights, MD
Print_ISBN :
0-7803-0928-6
DOI :
10.1109/NNSP.1993.471837
