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In this paper, we propose the sensation of grasping which is expressed by using inertia tensor, and applied with fuzzy inference using the relation between principle moment of inertia. The sensation of grasping encourages the decision for the grasping action directly without inferring from physical value such as size, posture and shape. As experimental results, we show that the sensation of grasping expresses the relative position and posture between the robot and the object, and the embodiment of the robot arm by one parameter. And, we verify the validity of the action decision from the sensation of grasping.<\/jats:p>","DOI":"10.4018\/ijalr.2017010103","type":"journal-article","created":{"date-parts":[[2017,5,31]],"date-time":"2017-05-31T13:58:57Z","timestamp":1496239137000},"page":"38-51","source":"Crossref","is-referenced-by-count":0,"title":["Direct Perception and Action Decision for Unknown Object Grasping"],"prefix":"10.4018","volume":"7","author":[{"given":"Hiroyuki","family":"Masuta","sequence":"first","affiliation":[{"name":"Toyama Prefectural University, Imizu, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tatsuo","family":"Motoyoshi","sequence":"additional","affiliation":[{"name":"Toyama Prefectural University, Imizu, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kei","family":"Sawai","sequence":"additional","affiliation":[{"name":"Toyama Prefectural University, Imizu, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ken'ichi","family":"Koyanagi","sequence":"additional","affiliation":[{"name":"Toyama Prefectural University, Imizu, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Toru","family":"Oshima","sequence":"additional","affiliation":[{"name":"Toyama Prefectural University, Imizu, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hun-Ok","family":"Lim","sequence":"additional","affiliation":[{"name":"Kanagawa University, Yokohama, Japan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"2432","reference":[{"key":"IJALR.2017010103-0","doi-asserted-by":"publisher","DOI":"10.1109\/34.295913"},{"key":"IJALR.2017010103-1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2206675"},{"key":"IJALR.2017010103-2","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2014.07.014"},{"key":"IJALR.2017010103-3","doi-asserted-by":"publisher","DOI":"10.1037\/0096-1523.22.1.213"},{"key":"IJALR.2017010103-4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2320795"},{"key":"IJALR.2017010103-5","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2007.09.014"},{"key":"IJALR.2017010103-6","doi-asserted-by":"crossref","unstructured":"Beetz, M., Klank, U., Kresse, I., Maldonado, A., Mosenlechner, L., Pangercic, D., . . . 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