Hide/Show Apps

An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

Download
2010-10-01
BAYSAL, CABBAR VEYSEL
Erkmen, Aydan Müşerref
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.