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Neural networks for multi-finger robot hand control
Other Title(s)
استخدام الشبكات العصبية الاصطناعية للتحكم في حركة يد الروبوت الاصطناعية متعددة الأصابع
Author
Source
Journal of King Abdulaziz University : Engineering Sciences
Issue
Vol. 19, Issue 1 (30 Jun. 2008), pp.19-42, 24 p.
Publisher
King Abdulaziz University Scientific Publishing Center
Publication Date
2008-06-30
Country of Publication
Saudi Arabia
No. of Pages
24
Main Subjects
Abstract EN
This paper investigates the employment of Artificial Neural Networks (ANN) for a multi-finger robot hand manipulation in which the object motion is defined in task-space with respect to six Cartesian based coordinates.
The approach followed here is to let an ANN learn the nonlinear functional relating the entire hand joints positions and displacements to object displacement.
This is done by considering the inverse hand Jacobian, in addition to the interaction between hand fingers and the object being grasped and manipulated.
The developed network has been trained for several object training patterns and postures within a Cartesian based palm dimension.
The paper demonstrates the proposed algorithm for a four fingered robot hand, where inverse hand Jacobian plays an important role in robot hand dynamic control.
American Psychological Association (APA)
al-Jallaf, Ibrahim Abd Allah. 2008. Neural networks for multi-finger robot hand control. Journal of King Abdulaziz University : Engineering Sciences،Vol. 19, no. 1, pp.19-42.
https://search.emarefa.net/detail/BIM-329937
Modern Language Association (MLA)
al-Jallaf, Ibrahim Abd Allah. Neural networks for multi-finger robot hand control. Journal of King Abdulaziz University : Engineering Sciences Vol. 19, no. 1 (2008), pp.19-42.
https://search.emarefa.net/detail/BIM-329937
American Medical Association (AMA)
al-Jallaf, Ibrahim Abd Allah. Neural networks for multi-finger robot hand control. Journal of King Abdulaziz University : Engineering Sciences. 2008. Vol. 19, no. 1, pp.19-42.
https://search.emarefa.net/detail/BIM-329937
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 40-41
Record ID
BIM-329937