Title :
An integrated system for dextrous manipulation
Author :
Allen, Peter K. ; Michelman, Paul ; Roberts, Kenneth S.
Abstract :
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
Keywords :
programming environments; robots; Utah-MIT hand; dextrous manipulation; grasping; high-level programming environment; integrated system; joint position; low-level system primitives; robotic arm movement; sensing primitives; tactile array feedback; tactile sensors; task level scripts; tendon force; Computer science; Control systems; Educational robots; Fingers; Grasping; Humans; Robot sensing systems; Sensor arrays; Tactile sensors; Tendons;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100052
