Adaptive critic neural network-based object grasping control using a three-finger gripper

IEEE Transactions on Neural Networks
Sarangapani Jagannathan, Gustavo Galan

Abstract

Grasping of objects has been a challenging task for robots. The complex grasping task can be defined as object contact control and manipulation subtasks. In this paper, object contact control subtask is defined as the ability to follow a trajectory accurately by the fingers of a gripper. The object manipulation subtask is defined in terms of maintaining a predefined applied force by the fingers on the object. A sophisticated controller is necessary since the process of grasping an object without a priori knowledge of the object's size, texture, softness, gripper, and contact dynamics is rather difficult. Moreover, the object has to be secured accurately and considerably fast without damaging it. Since the gripper, contact dynamics, and the object properties are not typically known beforehand, an adaptive critic neural network (NN)-based hybrid position/force control scheme is introduced. The feedforward action generating NN in the adaptive critic NN controller compensates the nonlinear gripper and contact dynamics. The learning of the action generating NN is performed on-line based on a critic NN output signal. The controller ensures that a three-finger gripper tracks a desired trajectory while applying desired forces on the ob...Continue Reading

References

Jan 1, 1997·IEEE Transactions on Neural Networks·D V Prokhorov, D C Wunsch

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Citations

Jun 26, 2015·IEEE Transactions on Neural Networks and Learning Systems·Hamidreza ModaresZhong-Ping Jiang
May 9, 2014·IEEE Transactions on Neural Networks and Learning Systems·Hamidreza ModaresMohammad-Bagher Naghibi-Sistani
Apr 17, 2009·IEEE Transactions on Neural Networks·Yu Zhao, Chien Chern Cheah
Feb 14, 2008·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Qinmin Yang, S Jagannathan
Apr 15, 2005·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Chuan-Kai Lin

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