DSmT Decision-Making Algorithms for Finding Grasping Configurations of Robot Dexterous Hands

摘要

In this paper, we present a deciding technique for robotic dexterous hand configurations. This algorithm can be used to decide on how to configure a robotic hand so it can grasp objects in different scenarios. Receiving as input, several sensor signals that provide information on the object’s shape, the DSmT decision-making algorithm passes the information through several steps before deciding what hand configuration should be used for a certain object and task. The proposed decision-making method for real time control will decrease the feedback time between the command and grasped object, and can be successfully applied on robot dexterous hands. For this, we have used the Dezert–Smarandache theory which can provide information even on contradictory or uncertain systems.