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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.

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Publisher
Department of Computer Science, Columbia University
Publication Origin
New York
Series
Columbia University Computer Science Technical Reports, CUCS-405-88
Academic Units
Computer Science
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