Fuzzy representation of grasping modes

Author

Aydin, Kubilay Kaan

Author_Institution

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

Volume

1

fYear

1996

fDate

13-16 May 1996

Firstpage

182

Abstract

Robot hands are preshaped according to a selected grasping mode before the actual grasping action. Grasping modes depend on the kinematic structure of the robot hand, the geometry and physical properties of the target object, along with information on the goal of the task. A fuzzy representation of grasping modes is presented in this paper. Properties of target objects and task primitives are mapped onto various grasp features which are used as membership functions for the fuzzy sets representing the grasping modes. The relations of object and task features with the grasping modes can be investigated by examining the presented fuzzy representation

Keywords

computational geometry; feature extraction; fuzzy control; fuzzy set theory; knowledge representation; manipulator kinematics; fuzzy representation; fuzzy set theory; grasp features; grasping modes; kinematic structure; membership functions; robot hands; task primitives; Computational geometry; Fingers; Fuzzy sets; Grasping; Humans; Industrial engineering; Information geometry; Kinematics; Service robots; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrotechnical Conference, 1996. MELECON '96., 8th Mediterranean

Conference_Location

Bari

Print_ISBN

0-7803-3109-5

Type

conf

DOI

10.1109/MELCON.1996.550987

Filename

550987