A system for programming and controlling a multisensor robotic hand
Peter K. Allen; Paul Michelman; Kenneth S. Roberts
- A system for programming and controlling a multisensor robotic hand
Allen, Peter K.
Roberts, Kenneth S.
- Computer Science
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- IEEE Transactions on Systems, Man and Cybernetics
- A system for programming and controlling a multisensor robotic hand (Utah-MIT Hand) is described. Using this system, a number of autonomous tasks that are easily programmed and include combinations of hand-arm actuation with force, position, and tactile sensing have been implemented. The system is controlled at the software level by a programming language DIAL that provides an easy method for expressing the parallel operation of robotic devices. It also provides a convenient way to implement task-level scripts that can then be bound to particular sensors, actuators, and methods for accomplishing a generic grasping or manipulation task. Experiments using the system to pick up and pour from a pitcher, unscrew a lightbulb, and explore planar surfaces are presented.
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