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Proceedings Paper

Reasoning About Grasping From Task Descriptions
Author(s): Huan Liu; Thea Iberall; George A. Berkey
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Paper 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.

Paper Details

Date Published: 27 March 1989
PDF: 10 pages
Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); doi: 10.1117/12.960326
Show Author Affiliations
Huan Liu, University of Southern California (United States)
Thea Iberall, University of Southern California (United States)
George A. Berkey, University of Southern California (United States)


Published in SPIE Proceedings Vol. 1002:
Intelligent Robots and Computer Vision VII
David P. Casasent, Editor(s)

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