Multi-dimensional quality of task requirements for dextrous robot hand control

Huan Liu, Thea Iberall, George A. Bekey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations

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 languageEnglish (US)
Title of host publicationIEEE Int Conf Rob Autom 1989
Editors Anon
Place of PublicationPiscataway, NJ, United States
PublisherPubl by IEEE
Pages452-457
Number of pages6
StatePublished - 1989
Externally publishedYes
EventIEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA
Duration: May 14 1989May 19 1989

Other

OtherIEEE International Conference on Robotics and Automation - 1989
CityScottsdale, AZ, USA
Period5/14/895/19/89

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Liu, H., Iberall, T., & Bekey, G. A. (1989). Multi-dimensional quality of task requirements for dextrous robot hand control. In Anon (Ed.), IEEE Int Conf Rob Autom 1989 (pp. 452-457). Publ by IEEE.