Knowledge-based prehension: capturing human dexterity
نویسندگان
چکیده
A major question facing the development of sophisticated robotics systems is how to capture the functionality seen in versatile living systems. An approach that has proven useful in designing complex systems is to capture the explicit constraints in a knowledge based system. In this paper, we discuss a knowledge-based planning system under development that attempts to capture the versatility of human prehension. Our goal with this sytem is to both model the relationship between perceptual and motor systems in human prehension, as well as to to develop a knowledge based grasp planner able to control sophisticated, dextrous robot hands.
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