Affiliations: [a] Research Scientist, Advanced PDP Engineering Div.,
Samsung SDI Corp | [b] Senior Researcher, Intelligent Robotics Research
Center, Korea Institute of Science & Technology (KIST) | [c] Principal Research Scientist, Intelligent Robotics
Research Center, Korea Institute of Science & Technology (KIST)
Correspondence:
[*]
Corresponding author: Dr. Yonghwan Oh, Intelligent Robotics
Research Center, Korea Institute of Science & Technology (KIST), 39-1
Hawolgok-dong, Seongbuk-gu, Seoul, 136-791, Korea. Tel.: +82 2 958 5758; Fax:
+82 2 958 5749; E-mail: oyh@kist.re.kr
Abstract: In this paper, we studied a behavior-based architecture to
understand environment and perform manipulation through tactile servoing,
especially by Chained Releaser Subsumption Architecture. This CRSA has the
releasers which connect upper level with lower level. In order to verify the
effectiveness of the CRSA, a 4 degree-of-freedom hand was designed and several
behavioral grasping simulations and experiments are performed. In the
simulations, the graphical behavioral performance was obtained as well as the
trajectories of each of the fingers. In the experiments, some of the behaviors
were initiated at level 1 to level 2. While the robotic hand performed grasping
behaviors, the control program took the data from the DC motors and FSR sensors
to make plan for future behaviors. The experiment results show that it is
possible to control a robotic hand by behavior-based tactile servoing
strategies.
