Discrete fuzzy grasp affordance for robotic manipulators

D. Eizicovits, M. Yaacobovich, S. Berman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations


Grasp affordance determines the object-hand relative configurations which lead to successful grasps. Generation and representation of grasp affordances can increase achieved grasp quality and be integrated in path planning algorithms facilitating increased efficiency. Grasp quality is determined by various measures and may have a major impact on task success. Fuzzy grasp affordance can be defined based on a fuzzy grasp quality grade and enhance the previously Boolean notion of grasp affordance. Fuzzy grasp affordances can be represented using a discrete manifold. This facilitates integration of data from various sources and representation optimization using evolutionary algorithms. A method for construction of a discrete fuzzy grasp affordance manifold is presented and demonstrated for apple selective harvesting. The affordance constructed is based on learning from human demonstration. It includes quality grade determination, manifold structure determination, cell quantization, and smoothing. An algorithm for adaptation of the computed manifold to different manipulators and grippers is developed and implemented for two different end effectors. Additionally a method for online integration of the developed affordance is presented.

Original languageEnglish
Title of host publicationSYROCO 2012 Preprints - 10th IFAC Symposium on Robot Control
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)9783902823113
StatePublished - 1 Jan 2012
Event10th IFAC Symposium on Robot Control, SYROCO 2012 - Dubrovnik, Croatia
Duration: 5 Sep 20127 Sep 2012


Conference10th IFAC Symposium on Robot Control, SYROCO 2012


  • Fuzzy logic
  • Learning
  • Robotic manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering


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