Reasoning About Grasping
Abstract
The promise of robots for the future is that of intelligent, autonomous machines functioning in a variety of tasks and situations. If this promise is to be met, then it is vital that robots be capable of grasping and manipulating a wide range of objects in the execution of highly variable tasks. A current model of human grasping divides the grasp into two stages, a precontact stage and a postcontact stage. In this paper, we present a rule-based reasoning system and an object representation paradigm for a robotic system which utilizes this model to reason about grasping during the precontact stage. Sensed object features and their spatial relations are used to invoke a set of hand preshapes and reach parameters for the robot arm/hand. The system has been implemented in PROLOG and results are presented to illustrate how the system functions.
Cite
Text
Stansfield. "Reasoning About Grasping." AAAI Conference on Artificial Intelligence, 1988.Markdown
[Stansfield. "Reasoning About Grasping." AAAI Conference on Artificial Intelligence, 1988.](https://mlanthology.org/aaai/1988/stansfield1988aaai-reasoning/)BibTeX
@inproceedings{stansfield1988aaai-reasoning,
title = {{Reasoning About Grasping}},
author = {Stansfield, Sharon A.},
booktitle = {AAAI Conference on Artificial Intelligence},
year = {1988},
pages = {768-773},
url = {https://mlanthology.org/aaai/1988/stansfield1988aaai-reasoning/}
}