An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

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Atıf İçin Kopyala

BAYSAL C. V., ERKMEN A. M.

INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS, cilt.3, sa.5, ss.656-673, 2010 (SCI-Expanded)

• 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
• 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.