Home

An Integrated System for Dextrous Manipulation

Peter K. Allen; Paul Michelman; Kenneth S. Roberts

Title:
An Integrated System for Dextrous Manipulation
Author(s):
Allen, Peter K.
Michelman, Paul
Roberts, Kenneth S.
Date:
Type:
Technical reports
Department:
Computer Science
Permanent URL:
Series:
Columbia University Computer Science Technical Reports
Part Number:
CUCS-405-88
Publisher:
Department of Computer Science, Columbia University
Publisher Location:
New York
Abstract:
This paper describes an integrated system for dextrous manipulation using a Utah-MIT hand that allows one to look at the higher levels of control in a number of grasping and manipulation tasks. The system consists of a number of low-level system primitives for grasping, integrated hand and robotic arm movement, tactile sensors mounted on the fingertips, sensing primitives to utilize joint position, tendon force and tactile array feedback, and a high-level programming environment that allows task level scripts to be created for grasping and manipulation tasks. A number of grasping and manipulation tasks are described that have been implemented with this system.
Subject(s):
Computer science
Robotics
Item views:
110
Metadata:
text | xml

In Partnership with the Center for Digital Research and Scholarship at Columbia University Libraries/Information Services | Terms of Use