An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping
INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS, vol.3, no.5, pp.656-673, 2010 (SCI-Expanded, Scopus)
- Publication Type: Article / Article
- Volume: 3 Issue: 5
- Publication Date: 2010
- Doi Number: 10.1080/18756891.2010.9727731
- Journal Name: INTERNATIONAL JOURNAL OF COMPUTATIONAL INTELLIGENCE SYSTEMS
- Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Page Numbers: pp.656-673
- Open Archive Collection: AVESIS Open Access Collection
- Middle East Technical University Affiliated: Yes
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.