An Integrated System for Dextrous Manipulation
Peter K. Allen; Paul Michelman; Kenneth S. Roberts
- An Integrated System for Dextrous Manipulation
Allen, Peter K.
Roberts, Kenneth S.
- Technical reports
- Computer Science
- Permanent URL:
- Columbia University Computer Science Technical Reports
- Part Number:
- Department of Computer Science, Columbia University
- Publisher Location:
- New York
- 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.
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