Knowledge-based control of grasping in robot hands using heuristics from human motor skills

Author

Bekey, George A. ; Liu, Huan ; Tomovic, Rajko ; Karplus, Walter J.

Author_Institution

Dept. of Comput. Sci., Univ. of Southern California, Los Angeles, CA, USA

Volume

9

Issue

6

fYear

1993

fDate

12/1/1993 12:00:00 AM

Firstpage

709

Lastpage

722

Abstract

The development of a grasp planner for multifingered robot hands is described. The planner is knowledge-based, selecting grasp postures by reasoning from symbolic information on target object geometry and the nature of the task. The ability of the planner to utilize task information is based on an attempt to mimic human grasping behavior. Several task attributes and a set of heuristics derived from observation of human motor skills are included in the system. The paper gives several examples of the reasoning of the system in selecting the appropriate grasp mode for spherical and cylindrical objects for different tasks

Keywords

geometry; inference mechanisms; intelligent control; knowledge based systems; manipulators; planning (artificial intelligence); cylindrical objects; grasp planner; grasp postures; heuristics; human grasping behavior; human motor skills; knowledge-based control; multifingered robot hands; reasoning; spherical objects; symbolic information; target object geometry; task attributes; Computational geometry; Computer science; Control systems; Equations; Grasping; Humans; Information geometry; Knowledge based systems; Robots; Shape;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.265915

Filename

265915