Fuzzy representation of grasping modes

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