Fuzzy proximity measures for robot grasp planning

Author

Sridharan, K. ; Stephanou, Harry E.

Author_Institution

Rensselaer Polytech. Inst., Troy, NY, USA

fYear

1992

fDate

11-13 Aug 1992

Firstpage

220

Lastpage

224

Abstract

Fast procedures for computing fuzzy proximity measures between a multifingered robot hand and an object to be grasped are presented. T.N. Nguyen and H.E. Stephanou (1990) presented a fuzzy approach for prehension, identified sources of fuzziness, and proposed a fuzzy algorithm for multifingered prehension. These ideas are extended by assuming fuzziness in the object location and geometric hand configuration, computing information on proximity of the hand and object, analyzing the computational efficiencies, and indicating how geometric information can be used in the process of prehension. The implementation details are outlined. The computation is useful in grasp planning and in analyzing the local behavior of the robot hand in the vicinity of the object

Keywords

computational complexity; fuzzy control; robots; computational efficiencies; fuzzy geometric hand configuration; fuzzy proximity measures; grasp planning; location fuzziness; multifingered robot hand; prehension; robot grasp planning; robot hand behavior analysis; Electric variables measurement; End effectors; Fingers; Fuzzy systems; Kinematics; Paper technology; Robotics and automation; Robots; Solid modeling; Systems engineering and theory;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on

Conference_Location

Glasgow

ISSN

2158-9860

Print_ISBN

0-7803-0546-9

Type

conf

DOI

10.1109/ISIC.1992.225095

Filename

225095