An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping
INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS, cilt.3, sa.5, ss.656-673, 2010 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 3 Sayı: 5
- Basım Tarihi: 2010
- Doi Numarası: 10.2991/ijcis.2010.3.5.14
- Dergi Adı: INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Sayfa Sayıları: ss.656-673
- Açık Arşiv Koleksiyonu: AVESİS Açık Erişim Koleksiyonu
- Çukurova Üniversitesi Adresli: Hayır
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.