Behavior-based control of robotic hand by tactile servoing

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.