Reasoning About Grasping From Task Descriptions

Huan Liu; Thea Iberall; George A. Berkey

doi:10.1117/12.960326

27 March 1989 Reasoning About Grasping From Task Descriptions

Huan Liu, Thea Iberall, George A. Berkey

Proceedings Volume 1002, Intelligent Robots and Computer Vision VII; (1989) https://doi.org/10.1117/12.960326
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

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 ap-proach 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.

Citation Download Citation

Huan Liu, Thea Iberall, and George A. Berkey "Reasoning About Grasping From Task Descriptions", Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); https://doi.org/10.1117/12.960326

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