An integrated system for dextrous manipulation

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

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.



Also Published In

Proceedings : 1989 IEEE International Conference on Robotics and Automation, May 14-19, 1989, the Registry Resort, Scottsdale, Arizona
Computer Society Press

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Computer Science
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November 12, 2012