Object Shape Recognition and Grasping by Five-fingered Robotic Hand Based on E-ANFIS Model

摘要：

This paper presents a method for object shape recognition and the real-time grasping of unknown plane objects only using the positions information of robotic hand fingers. We aim to recover the shape, position and orientation of the grasped object by random five grasping points and the vision system in Cartesian space. A highly intelligent information fusion model which is combined with the Expert system and multiple ANFIS models (E-ANFIS model) is presented to solve the problem above and the validity of the proposed method is demonstrated by simulations.

关键词： shape recognition mulitfingered hand E-ANFIS model

作者: Shaowei Fan Yiwei Liu Ke Wu Zhaopeng Chen Zainan Jiang Li Jiang Hong Liu

作者单位: Robot Research Institute,Harbin Institute of Technology (HIT),Harbin 150001,P.R.China Institute of Robotics and Mechatronics,German Aerospace Center (DLR),82230 Wessling,Germany

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1075-1080

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）