Fuzzy logic, grasp preshaping for robot hands

Author

Aydin, Kubilay K.

Author_Institution

Dept. of Ind. Eng., Middle East Tech. Univ., Ankara, Turkey

fYear

1995

Firstpage

520

Lastpage

523

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ISUMA.1995.527749

Filename

527749

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1632602