A survey on different control techniques for grasping

Abstract

One of the main objectives of the robotics is to make the systems able to interact, modify, transmit, and receive information from the human environment. They reach the possibility to replace the human being in simple and basic functions with better results. In this way, robotic hands play a relevant role since they can perform different tasks, such as holding and manipulating, reaching visual communication, and obtaining direct contact with the environment, interacting and even modifying it. This chapter will focus on the different control techniques depending on the electromechanical design: linear and nonlinear control, and more advanced controls techniques. Finally, some solutions will be detailed through mechanical systems, and it will be explained how they can affect the development of new robotic hands, studying the case of underactuated architectures developed at roboticslab, which are implemented in a robots designed at RoboticsLab: ASIBOT (personal assistive robot) and TEO, the UC3M’s second version of a fullsized humanoid.