Volume 3, Issue 5, October 2010, Pages 656 - 673
An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping
Authors
Cabbar Veysel Baysal, Aydan M. Erkmen
Corresponding Author
Cabbar Veysel Baysal
Received 23 October 2009, Accepted 2 June 2010, Available Online 1 October 2010.
- DOI
- 10.2991/ijcis.2010.3.5.14How to use a DOI?
- Keywords
- Robot Hand; Dexterous Manipulation; Grasp Preshaping; Preshape Estimation; Intelligent Inference System.
- Abstract
This paper presents a novel Intelligent Inference System (IIS) for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, lowlevel kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.
- Copyright
- © 2010, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Cabbar Veysel Baysal AU - Aydan M. Erkmen PY - 2010 DA - 2010/10/01 TI - An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping JO - International Journal of Computational Intelligence Systems SP - 656 EP - 673 VL - 3 IS - 5 SN - 1875-6883 UR - https://doi.org/10.2991/ijcis.2010.3.5.14 DO - 10.2991/ijcis.2010.3.5.14 ID - Baysal2010 ER -