An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping


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BAYSAL C. V. , ERKMEN A. M.

INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS, cilt.3, ss.656-673, 2010 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 3 Konu: 5
  • Basım Tarihi: 2010
  • Doi Numarası: 10.2991/ijcis.2010.3.5.14
  • Dergi Adı: INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS
  • Sayfa Sayıları: ss.656-673

Özet

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.