Behavior-based control of robotic hand by tactile servoing

作     者：Park, No-Hoon Oh, Yonghwan Oh, Sang-Rok 

作者机构：Korea Inst Sci & Technol Intelligent Robot Res Ctr Seoul 136791 South Korea Samsung SDI Corp Adv PDP Engn Div Seoul South Korea 

出 版 物：《INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS》 (国际电磁学与力学应用杂志)

年 卷 期：2006年第24卷第3-4期

页      面：311-321页

核心收录：

学科分类：080805[工学-电工理论与新技术] 080904[工学-电磁场与微波技术] 0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0801[工学-力学（可授工学、理学学位）] 0702[理学-物理学] 

主　　题：behavior-based control 4 degree-of-freedom robotic hand chained releaser subsumption architecture 

摘      要：In this paper, we studied a behavior-based architecture to understand environment and perform manipulation through tactile servoing, especially by Chained Releaser Subsumption Architecture. This CRSA has the releasers which connect upper level with lower level. In order to verify the effectiveness of the CRSA, a 4 degree-of-freedom hand was designed and several behavioral grasping simulations and experiments are performed. In the simulations, the graphical behavioral performance was obtained as well as the trajectories of each of the fingers. In the experiments, some of the behaviors were initiated at level 1 to level 2. While the robotic hand performed grasping behaviors, the control program took the data from the DC motors and FSR sensors to make plan for future behaviors. The experiment results show that it is possible to control a robotic hand by behavior-based tactile servoing strategies.