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Proceedings Paper

A new approach of active compliance control via fuzzy logic control for multifingered robot hand
Author(s): M. F. A. Jamil; J. Jalani; A. Ahmad
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Paper Abstract

Safety is a vital issue in Human-Robot Interaction (HRI). In order to guarantee safety in HRI, a model reference impedance control can be a very useful approach introducing a compliant control. In particular, this paper establishes a fuzzy logic compliance control (i.e. active compliance control) to reduce impact and forces during physical interaction between humans/objects and robots. Exploiting a virtual mass-spring-damper system allows us to determine a desired compliant level by understanding the behavior of the model reference impedance control. The performance of fuzzy logic compliant control is tested in simulation for a robotic hand known as the RED Hand. The results show that the fuzzy logic is a feasible control approach, particularly to control position and to provide compliant control. In addition, the fuzzy logic control allows us to simplify the controller design process (i.e. avoid complex computation) when dealing with nonlinearities and uncertainties.

Paper Details

Date Published: 11 July 2016
PDF: 9 pages
Proc. SPIE 10011, First International Workshop on Pattern Recognition, 1001111 (11 July 2016); doi: 10.1117/12.2242807
Show Author Affiliations
M. F. A. Jamil, Univ. Tun Hussein Onn Malaysia (Malaysia)
J. Jalani, Univ. Tun Hussein Onn Malaysia (Malaysia)
A. Ahmad, Univ. Tun Hussein Onn Malaysia (Malaysia)

Published in SPIE Proceedings Vol. 10011:
First International Workshop on Pattern Recognition
Xudong Jiang; Guojian Chen; Genci Capi; Chiharu Ishll, Editor(s)

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