Issues in building intelligent grasping systems

Allen, Peter K.

Intelligent robotic systems will need to have the capability to grasp, recognize, inspect and manipulate objects. Our experience in building an intelligent system with these capabilities has forced us to confront a number of important issues that we have found to be important in building an intelligent grasping system. The issues are 1) the need for multiple sensing capability in hands, 2) synchronization of actuation devices, and 3) coordinated contact movement on a surface. We demonstrate how these issues are overcome with an example of haptic sensing with our Utah/MIT hand system.


Also Published In

Applications of artificial intelligence VIII : 17-19 April 1990, Orlando, Florida
Bellingham, Wash.

More About This Work

Academic Units
Computer Science
Proceedings of SPIE--The International Society for Optical Engineering, 1293
Published Here
November 8, 2012