A system for programming and controlling a multisensor robotic hand

Articles:

Title:: A system for programming and controlling a multisensor robotic hand
Author(s):: Allen, Peter K.
Michelman, Paul
Roberts, Kenneth S.
Date:: 1990
Type:: Articles
Department:: Computer Science
Volume:: 20
Permanent URL:: http://hdl.handle.net/10022/AC:P:15078
Book/Journal Title:: IEEE Transactions on Systems, Man and Cybernetics
Abstract:: 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.
Subject(s):: Robotics
DOI:: http://dx.doi.org/10.1109/21.61214