Title :
Preliminary design of a whole-arm manipulation system (WAMS)
Author :
Salisbury, K. ; Townsend, W. ; Ebrman, B. ; DiPietro, David
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
An approach to manipulation that uses all the available manipulation surfaces of the robot to act on and sense the environment is outlined. The kinematic, mechanism, actuation, and control implications of such a design are discussed and initial experimentation with a prototype mechanism are described. A three-degree-of-freedom underwater manipulator using a number of the resulting design concepts is described
Keywords :
control system synthesis; kinematics; marine systems; robots; actuation; design; kinematic; robots; underwater manipulator; whole-arm manipulation system; Actuators; Artificial intelligence; Cables; Force control; Humans; Kinematics; Robot sensing systems; Sea surface; Testing; Torque control;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12057
