Abstract
The authors identify four important task requirements for dextrous robot hand control. These requirements are stability, manipulability, torquability, and radial rotatability. High-level task descriptions, supplied by the user, are refined into detailed task descriptions that can be used to drive a robot hand. A knowledge-based approach for refining a reasonable set of tasks is used to infer values for a set of task attributes, which trigger several heuristics. Those heuristics are applied using a set of metaheuristics to determine good grasp postures and poses for the task. How to use this multidimensional grasping quality in grasp mode selection and performance evaluation is shown in an industrial assembly domain.
| Original language | English (US) |
|---|---|
| Title of host publication | IEEE Int Conf Rob Autom 1989 |
| Editors | Anon |
| Place of Publication | Piscataway, NJ, United States |
| Publisher | Publ by IEEE |
| Pages | 452-457 |
| Number of pages | 6 |
| State | Published - 1989 |
| Externally published | Yes |
| Event | IEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA Duration: May 14 1989 → May 19 1989 |
Other
| Other | IEEE International Conference on Robotics and Automation - 1989 |
|---|---|
| City | Scottsdale, AZ, USA |
| Period | 5/14/89 → 5/19/89 |
ASJC Scopus subject areas
- General Engineering