Allen Peter K. author Columbia University. Computer Science Michelman Paul author Columbia University. Computer Science Roberts Kenneth S. author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1990 English 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. Robotics 20 6 1450 1456 1990 http://dx.doi.org/10.1109/21.61214 http://hdl.handle.net/10022/AC:P:15078 NNC NNC 2012-10-25 12:34:08 -0400 2012-10-25 12:40:43 -0400 9076 eng