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.
- Computer Science
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- Book/Journal Title:
- Proceedings : 1989 IEEE International Conference on Robotics and Automation, May 14-19, 1989, the Registry Resort, Scottsdale, Arizona
- Computer Society Press
- Publisher Location:
- Washington, D.C.
- 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.
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