Technical reports:
An Integrated System for Dextrous Manipulation
Peter K. Allen; Paul Michelman; Kenneth S. Roberts
Downloads:
- Title:
- An Integrated System for Dextrous Manipulation
- Author(s):
-
Allen, Peter K.
Michelman, Paul
Roberts, Kenneth S. - Date:
- 1988
- Type:
- Technical reports
- Department:
- Computer Science
- Permanent URL:
- http://hdl.handle.net/10022/AC:P:12076
- 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:
- 99