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A system for programming and controlling a multisensor robotic hand

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

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.

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Title
IEEE Transactions on Systems, Man and Cybernetics
DOI
https://doi.org/10.1109/21.61214

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Academic Units
Computer Science
Published Here
October 25, 2012