Knowledge-based control of grasping in robot hands using heuristics from human motor skills

George A. Bekey, Huan Liu, Rajko Tomovic, Walter J. Karplus

Research output: Contribution to journalArticle

83 Scopus citations

Abstract

The development of a grasp planner for multifingered robot hands is described. The planner is knowledge-based, selecting grasp postures by reasoning from symbolic information on target object geometry and the nature of the task. The ability of the planner to utilize task information is based on an attempt to mimic human grasping behavior. Several task attributes and a set of heuristics derived from observation of human motor skills are included in the system. The paper gives several examples of the reasoning of the system in selecting the appropriate grasp mode for spherical and cylindrical objects for different tasks.

Original languageEnglish (US)
Pages (from-to)709-722
Number of pages14
JournalIEEE Transactions on Robotics and Automation
Volume9
Issue number6
DOIs
StatePublished - Dec 1 1993
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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