Knowledge-Based Models of Human and Robot Grasping

Abstract A knowledge-based approach to modeling complex systems is introduced in this paper and applied to the sythesis of a model of grasping in multifingered robotic hands. The method begins with a description of the knowledge required to describe human grasping, and then proceeds to a transfer of the basic ideas to robot hands. The application of the resulting model to grasp planning and control of the Belgrade/USC hand are described.

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