Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model

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

doi:10.1109/ROBIO.2009.5420858

Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model

Shaowei Fan^*
, Yiwei Liu
, Ke Wu
, Zhaopeng Chen
, Zainan Jiang
, Li Jiang
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

German Aerospace Center

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	1075-1080
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420858
State	Published - 2009
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	19/12/09 → 23/12/09

Keywords

E-ANFIS model
Mulitfingered hand
Shape recognition

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10.1109/ROBIO.2009.5420858

Cite this

Fan, S., Liu, Y., Wu, K., Chen, Z., Jiang, Z., Jiang, L., & Liu, H. (2009). Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 1075-1080). Article 5420858 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420858

@inproceedings{52649b84737f419fb931a31eabbe5106,

title = "Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model",

abstract = "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.",

keywords = "E-ANFIS model, Mulitfingered hand, Shape recognition",

author = "Shaowei Fan and Yiwei Liu and Ke Wu and Zhaopeng Chen and Zainan Jiang and Li Jiang and Hong Liu",

year = "2009",

doi = "10.1109/ROBIO.2009.5420858",

language = "英语",

isbn = "9781424447756",

series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

pages = "1075--1080",

booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",

}

Fan, S , Liu, Y, Wu, K, Chen, Z, Jiang, Z , Jiang, L & Liu, H 2009, Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420858, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 1075-1080, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 19/12/09. https://doi.org/10.1109/ROBIO.2009.5420858

Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model. / Fan, Shaowei ; Liu, Yiwei; Wu, Ke et al.
2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 1075-1080 5420858 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model

AU - Fan, Shaowei

AU - Liu, Yiwei

AU - Wu, Ke

AU - Chen, Zhaopeng

AU - Jiang, Zainan

AU - Jiang, Li

AU - Liu, Hong

PY - 2009

Y1 - 2009

N2 - 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.

AB - 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.

KW - E-ANFIS model

KW - Mulitfingered hand

KW - Shape recognition

UR - https://www.scopus.com/pages/publications/77951462935

U2 - 10.1109/ROBIO.2009.5420858

DO - 10.1109/ROBIO.2009.5420858

M3 - 会议稿件

AN - SCOPUS:77951462935

SN - 9781424447756

T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

SP - 1075

EP - 1080

BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Y2 - 19 December 2009 through 23 December 2009

ER -

Object shape recognition and grasping by five-fingered robotic hand based on E-ANFIS model

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