Fuzzy logic, grasp preshaping for robot hands

Abstract

Selection of an appropriate hand shape and orientation for grasp preshaping depends on the geometry and physical properties of the target object, along with information on the goal of the task. Features of the target object and the task are mapped onto various grasp attributes. Preshaping of the robot hand is done according to the results of this mapping. A fuzzy logic grasp preshaping methodology is presented.