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Tactile Identification of a Surface by Fuzzy Control

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Abstract

A hybrid control system has been developed for an anthropomorphic gripping device capable of grasping an object whose physicomechanical and geometric characteristics are unknown. The surface is identified on the basis of a multiply connected inverse pendulum, simulating the hand of a gripping device. A fuzzy control algorithm is synthesized for a two-level hybrid automatic control system.

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FUNDING

Financial support was provided by the Russian Foundation for Basic Research (project 19-08-00775).

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Authors and Affiliations

  1. MIREA Russian Technological University, Moscow, Russia

    V. I. Chizhikov & E. V. Kurnasov

Authors
  1. V. I. Chizhikov
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  2. E. V. Kurnasov
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Correspondence to V. I. Chizhikov.

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Translated by Bernard Gilbert

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Chizhikov, V.I., Kurnasov, E.V. Tactile Identification of a Surface by Fuzzy Control. Russ. Engin. Res. 39, 492–498 (2019). https://doi.org/10.3103/S1068798X19060108

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  • DOI: https://doi.org/10.3103/S1068798X19060108

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