An Intelligent Inference System for Robot Hand Optimal Grasp Preshaping

Abstract

This paper presents a novel Intelligent Inference System (IIS) for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, lowlevel kinematical analysis, evaluation of contact wrench patterns via fuzzy approximate reasoning and ANN structure for incremental learning. The IIS is implemented in software with a robot hand simulation.

Keywords

• Robot Hand; Dexterous Manipulation; Grasp Preshaping; Preshape Estimation; Intelligent Inference System.