An Integrated System for Dextrous Manipulation

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

This paper describes an integrated system for dextrous manipulation using a Utah-MIT hand that allows one 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 grasping, 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. A number of grasping and manipulation tasks are described that have been implemented with this system.


More About This Work

Academic Units
Computer Science
Department of Computer Science, Columbia University
Columbia University Computer Science Technical Reports, CUCS-405-88
Published Here
December 21, 2011