15 DOF robotic hand fuzzy-sliding control for grasping tasks

Abstract

We present a grasp control scheme for an anthropomorphic multi-fingered robotic hand (kinematic structure similar to the human hand) with five fingers and 15 DOF that use different control surfaces according to the system state and the expected response. The responses of each surface are combined into a single structure using a fuzzy control scheme. We define a general behavior for all fingers, which act independently, it allows that the hand adapts to the shape of the object. To reduce the computational complexity, we established only five internal control blocks, one for each finger; the mechanical actuator distributes the control action along the finger joints. This robot hand can grasp various objects steadily and achieve manipulations with a very simple mechanism. Algorithm effectiveness has been tested on a real robotic prototype.