A Model-Free Synchronous Control of Humanoid Robot Finger
Ziqi Liu Li Jiang Bin Yang Chongyang Li Ming Cheng Shaowei Fan Dapeng Yang Ziqi Liu Li Jiang Bin Yang Chongyang Li Ming Cheng Shaowei Fan Dapeng Yang
For a multi-fingered robot hand, the individual control over single joints cannot guarantee their fine collaboration. For achieving a high-precision synchronization, a theory of synchronous control is introduced to multi-fingered robot hands. This paper introduced a new model-free and cross-coupling control strategy. It had been tested on the humanoid robot fingers and showed high positioning perf...