{"title":"采用模糊逻辑的触觉控制器实现机器人的手部操作","authors":"Vlad Ciobanu, N. Popescu","doi":"10.1109/ICSTCC.2015.7321332","DOIUrl":null,"url":null,"abstract":"Autonomous manipulation is one the the most complex fields of humanoid robotics research, because it involves several domains such as: object recognition, object tracking, manipulator positioning, grasping, etc. In this paper a tactile controller based on fuzzy logic is proposed, capable of complex inhand manipulation tasks. This fuzzy logic approach assures finger motion smoothness by dealing with sensor nonlinearities and uncertainties, thus reducing the need of knowing the object dimensions or exact position in relation to the robot hand.","PeriodicalId":257135,"journal":{"name":"2015 19th International Conference on System Theory, Control and Computing (ICSTCC)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Tactile controller using fuzzy logic for robot inhand manipulation\",\"authors\":\"Vlad Ciobanu, N. Popescu\",\"doi\":\"10.1109/ICSTCC.2015.7321332\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Autonomous manipulation is one the the most complex fields of humanoid robotics research, because it involves several domains such as: object recognition, object tracking, manipulator positioning, grasping, etc. In this paper a tactile controller based on fuzzy logic is proposed, capable of complex inhand manipulation tasks. This fuzzy logic approach assures finger motion smoothness by dealing with sensor nonlinearities and uncertainties, thus reducing the need of knowing the object dimensions or exact position in relation to the robot hand.\",\"PeriodicalId\":257135,\"journal\":{\"name\":\"2015 19th International Conference on System Theory, Control and Computing (ICSTCC)\",\"volume\":\"35 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-11-09\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 19th International Conference on System Theory, Control and Computing (ICSTCC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSTCC.2015.7321332\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 19th International Conference on System Theory, Control and Computing (ICSTCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSTCC.2015.7321332","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Tactile controller using fuzzy logic for robot inhand manipulation
Autonomous manipulation is one the the most complex fields of humanoid robotics research, because it involves several domains such as: object recognition, object tracking, manipulator positioning, grasping, etc. In this paper a tactile controller based on fuzzy logic is proposed, capable of complex inhand manipulation tasks. This fuzzy logic approach assures finger motion smoothness by dealing with sensor nonlinearities and uncertainties, thus reducing the need of knowing the object dimensions or exact position in relation to the robot hand.
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