SUPER-GRIP: an expert system for grasping boxes
نویسندگان
چکیده
This paper is concerned with the development o f an expert system which determines the best grasp configuration t o pick up a rectangular box. This two level system first chooses from a predetermined set of grasps, the ones best suited for the task using a set of rules. and then computes a quality index for each possible configuration. The program is written in LISP and was tested for many different objects and situations. The grasps found are not necessarily optimal but are efficient since they are similar t o the grasps a human would choose in the same situation. Because the program gives fast results and doesn't perform tedious computations, the best grip found can easily be used as a sub-optimal solution, or as a starting point for an optimizing program.
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