Title :
Fuzzy logic, grasp preshaping for robot hands
Author :
Aydin, Kubilay K.
Author_Institution :
Dept. of Ind. Eng., Middle East Tech. Univ., Ankara, Turkey
Abstract :
Selection of an appropriate hand shape and orientation for grasp preshaping depends on the geometry and physical properties of the target object, along with information on the goal of the task. Features of the target object and the task are mapped onto various grasp attributes. Preshaping of the robot hand is done according to the results of this mapping. A fuzzy logic grasp preshaping methodology is presented
Keywords :
control system analysis computing; fuzzy logic; manipulators; fuzzy logic grasp preshaping; geometry; grasp attributes; hand orientation; hand shape; physical properties; robot hands; target object; task goal; Computational geometry; Fingers; Fuzzy logic; Grasping; Humans; Industrial engineering; Information geometry; Service robots; Shape; Thumb;
Conference_Titel :
Uncertainty Modeling and Analysis, 1995, and Annual Conference of the North American Fuzzy Information Processing Society. Proceedings of ISUMA - NAFIPS '95., Third International Symposium on
Conference_Location :
College Park, MD
Print_ISBN :
0-8186-7126-2
DOI :
10.1109/ISUMA.1995.527749
