Reasoning about grasping from task descriptions

Huan Liu, Thea Iberall, George A. Bekey

Research output: Contribution to journalConference articlepeer-review

Abstract

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.

Original languageEnglish (US)
Pages (from-to)642-651
Number of pages10
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume1002
DOIs
StatePublished - Mar 27 1989
Externally publishedYes
EventIntelligent Robots and Computer Vision VII 1988 - Boston, United States
Duration: Nov 7 1988Nov 11 1988

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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