Object grip algorithm, 16 based on tactile recognition of its surface
The solution of the object grip problem with fuzzy information about its shape and physical characteristics of its surface, which can be identified with application of exponential or robust filters, is suggested. The resolving rules of tactile recognition of the objective nodal points on a surface and the condition of successful object grip are formulated. The algorithm of formation of a nodal point on a movement plane of active grip elements is suggested.