By Topic

Manipulation of unmodeled objects using intelligent grasping schemes

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Bowers, D.L. ; Appl. Technol. Associates, Albuquerque, NM, USA ; Lumia, R.

We investigate "intelligent" grasping schemes using a fuzzy logic rule base expert system. We use a vision system, robot arm and mechanical hand to locate and manipulate unmodeled, randomly placed objects of various sizes and shapes. In the pregrasp stage, we use vision data to provide a nonlinear mapping from object characteristics to hand configuration. In the postgrasp stage, we use hand data to ascertain the security of the grasp. Computational geometry is used to gauge the quality of the grasp and to quantify and validate the choice of hand configurations generated by the fuzzy logic expert system. The system is implemented within a low-cost virtual collaborative environment.

Published in:

Fuzzy Systems, IEEE Transactions on  (Volume:11 ,  Issue: 3 )