A blackboard architecture for autonomous synthesis of dexterous manipulation

摘要

The authors propose a sophisticated control software based on blackboard architecture for dextrous relocation-based manipulation synthesis using robot hands. An analysis of the suitability of such a blackboard architecture to relocation-based dexterous manipulation is addressed in detail. It is shown that the control software is capable of autonomous decision-making and can provide human-like variable grain-size common-sense reasoning and analysis while performing grasping or manipulation operations using robot hands.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>