TY - JOUR
T1 - Reasoning about grasping from task descriptions
AU - Liu, Huan
AU - Iberall, Thea
AU - Bekey, George A.
N1 - Funding Information:
This research was funded in part by grants from the Institute for Manufacturing and Automation Research, NSF-IMAR #CDR-871-7322, and the Division of Research Resources of the NIH #5-P41-RR01861-03. We would like to thank Iljia Zeljkovic for his help in integrating this system with the Belgrade/USC hand.
Publisher Copyright:
© 1989 SPIE. All rights reserved.
PY - 1989/3/27
Y1 - 1989/3/27
N2 - The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine.
AB - The advent of multiple degree of freedom, dextrous robot hands has made robot hand control more complicated. Besides the existing problem of finding a suitable grasping position and approach orientation, it is now necessary to decide the appropriate hand shape to use for a given task. In order to deal with this additional complexity, we focus on how to represent prehensile tasks for mapping task descriptions into suitable hand shapes, positions and orientations. A generic robot hand control system GeSAM is being implemented to refine task descriptions into suitable dextrous robot hand shapes using Knowledge Craft on a TI lisp machine.
UR - http://www.scopus.com/inward/record.url?scp=85076357255&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85076357255&partnerID=8YFLogxK
U2 - 10.1117/12.960326
DO - 10.1117/12.960326
M3 - Conference article
AN - SCOPUS:85076357255
SN - 0277-786X
VL - 1002
SP - 642
EP - 651
JO - Proceedings of SPIE - The International Society for Optical Engineering
JF - Proceedings of SPIE - The International Society for Optical Engineering
T2 - Intelligent Robots and Computer Vision VII 1988
Y2 - 7 November 1988 through 11 November 1988
ER -