Abstract
Robots are expected to work in a real environment. In particular, Multi-fingered and multi-articulated hands fulfill a large role. Controlling a complicated mechanism by existing control methods, however, would be difficult because it is not able to make an accurate model of dynamics. This paper proposes a bio-inspired system for controlling a multi-DOF five-fingered robot hand based on a new environment-adaptive algorithm. First, a non-model based controller imitating a biological fluctuation is constructed using an improved yuragi equation. Second, an algorithm for the constructed controller is proposed. Finally, experimental results in position control of the multi-DOF five-fingered robot hand using the proposed control system are shown.
