An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

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Date

2010-10-01

Author

BAYSAL, CABBAR VEYSEL
Erkmen, Aydan Müşerref

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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, low-level 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.

Subject Keywords

General Computer Science, Computational Mathematics

URI

https://hdl.handle.net/11511/36782

Journal

INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS

DOI

https://doi.org/10.1080/18756891.2010.9727731

Collections

Department of Electrical and Electronics Engineering, Article

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Citation Formats

C. V. BAYSAL and A. M. Erkmen, “An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping,” INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS, pp. 656–673, 2010, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/36782.