Manipulation of unmodeled objects using intelligent grasping schemes
- 11 June 2003
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Fuzzy Systems
- Vol. 11 (3), 320-329
- https://doi.org/10.1109/tfuzz.2003.812689
Abstract
We investigate "intelligent" grasping schemes using a fuzzy logic rule base expert system. We use a vision system, robot arm and mechanical hand to locate and manipulate unmodeled, randomly placed objects of various sizes and shapes. In the pregrasp stage, we use vision data to provide a nonlinear mapping from object characteristics to hand configuration. In the postgrasp stage, we use hand data to ascertain the security of the grasp. Computational geometry is used to gauge the quality of the grasp and to quantify and validate the choice of hand configurations generated by the fuzzy logic expert system. The system is implemented within a low-cost virtual collaborative environment.Keywords
This publication has 20 references indexed in Scilit:
- Examples of 3D grasp quality computationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A hybrid system for knowledge-based synthesis of robot graspsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Fast planning of precision grasps for 3D objectsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Visually guided object graspingIEEE Transactions on Robotics and Automation, 1998
- Toward automatic robot instruction from perception-mapping human grasps to manipulator graspsIEEE Transactions on Robotics and Automation, 1997
- Machine Learning and Image InterpretationPublished by Springer Science and Business Media LLC ,1997
- The quickhull algorithm for convex hullsACM Transactions on Mathematical Software, 1996
- Planning optimal graspsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1992
- Robotic Grasping of Unknown Objects: A Knowledge-based ApproachThe International Journal of Robotics Research, 1991
- Constructing force-closure graspsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986