Neural network approach to firm grip in the presence of small slips (Q2730998)
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scientific article; zbMATH DE number 1625341
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Neural network approach to firm grip in the presence of small slips |
scientific article; zbMATH DE number 1625341 |
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Neural network approach to firm grip in the presence of small slips (English)
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4 March 2004
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slip contact
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genetic algorithms
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firm grip
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static mapping
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neural network
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global optimization
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controller
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robot gripper
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The authors deal with a two-stage method to examine a firm grip that can tolerate small slips of finger tips of frictionless contact type. The interaction in the gripper-object system is used as a static mapping in training of a neural network. Genetic algorithms have been used in training another neural network by applying global optimization techniques. Hence, the resulting neural network becomes a robust, reliable and stable controller for rigid bodies handled by a robot gripper.
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