An integrated system for dextrous manipulation

Articles:

Title:: An integrated system for dextrous manipulation
Author(s):: Allen, Peter K.
Michelman, Paul
Roberts, Kenneth S.
Date:: 1989
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15261
Book/Journal Title:: Proceedings : 1989 IEEE International Conference on Robotics and Automation, May 14-19, 1989, the Registry Resort, Scottsdale, Arizona
Publisher:: Computer Society Press
Publisher Location:: Washington, D.C.
Abstract:: The authors describe an integrated system for dextrous manipulation using a Utah-MIT hand that makes it possible 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 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 are described that have been implemented with this system.
Subject(s):: Robotics
DOI:: http://dx.doi.org/10.1109/ROBOT.1989.100052