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, vol.3, no.5, pp.656-673, 2010 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 3 Issue: 5
  • Publication Date: 2010
  • Doi Number: 10.1080/18756891.2010.9727731
  • Title of Journal : INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS
  • Page Numbers: pp.656-673

Abstract

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.