EXPERT SYSTEMS FOR THE CONTROL OF DEXTEROUS ROBOT HANDS.
Date of Original Version
Robot hands with enough dexterity to manipulate workpieces in several degrees of freedom provide challenging control problems. This is partly because complex and numerous geometric possibilities can occur. Because accounting for all these possibilities is difficult, a set of human-generated heuristics and an ability to learn from past experiences provides one structure for the control algorithm. The Rhode Island dexterous hand is used to illustrate these concepts. The development of an expert control system is presented to extend the range of workpiece shapes the hand can manipulate.
Computers in Engineering, Proceedings of the International Computers in Engineering Conference and
Palm, W. J.. "EXPERT SYSTEMS FOR THE CONTROL OF DEXTEROUS ROBOT HANDS.." Computers in Engineering, Proceedings of the International Computers in Engineering Conference and 1, (1985): 177-182. https://digitalcommons.uri.edu/mcise_facpubs/632