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An integrated system for dextrous manipulation

Peter K. Allen; Paul Michelman; Kenneth S. Roberts

Title:
An integrated system for dextrous manipulation
Author(s):
Allen, Peter K.
Michelman, Paul
Roberts, Kenneth S.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
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
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.1989.100052
Item views:
61
Metadata:
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