@article{53d66e3a186a42bfa5ff66ddeeda041b,
title = "Knowledge-based control of grasping in robot hands using heuristics from human motor skills",
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.",
author = "Bekey, {George A.} and Huan Liu and Rajko Tomovic and Karplus, {Walter J.}",
note = "Funding Information: Manuscript received August 27, 1990; revised January 7, 1992. This work was supported in part by the National Science Foundation under Grants INT-8808390 and CDR-87-17322 and by the Institute for Manufacturing and Automation Research. G. A. Bekey is with the Computer Science Department, University of Southern California, Los Angeles, CA 90089. H. Liu is with the Artificial Intelligence Systems Section, Telecom Research Laboratories, Clayton, Victoria 3 168, Australia. R. Tomovic is with the Department of Electrical Engineering, University of Belgrade, Belgrade, Yugoslavia. W. J. Karplus is with the Computer Science Department, University of California at Los Angeles, Los Angeles, CA 90024. IEEE Log Number 9212600.",
year = "1993",
doi = "10.1109/70.265915",
language = "English (US)",
volume = "9",
pages = "709--722",
journal = "IEEE Transactions on Robotics and Automation",
issn = "1042-296X",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "6",
}