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EnglishThis paper addresses the grasp synthesis problem arising in task planning for robot dextrous hands. To this purpose, a hybrid architecture is proposed, which relies on symbolic and subsymbolic computations to exploit heterogeneous sources of knowledge, such as practical experience learned through experiments with a real device, heuristic rules gained from human observation, geometric reasoning and, when applicable, analytical results. After a preliminary discussion of representation levels and techniques, the paper describes the design of a tool for selecting the feasible grasps of a robotic hand under various situations and for ranking them according to task-oriented criteria.
| Titolo: | Hybrid system for knowledge-based synthesis of robot grasps |
| Autori: | |
| Data di pubblicazione: | 1993 |
| Handle: | http://hdl.handle.net/11381/2884806 |
| ISBN: | 0-7803-0823-9 |
| Appare nelle tipologie: | 4.1b Atto convegno Volume |
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