A system for programming and controlling a multisensor robotic hand

Author

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

Author_Institution

Dept. of Comput. Sci., Columbia Univ., New York, NY, USA

Volume

20

Issue

6

fYear

1990

Firstpage

1450

Lastpage

1456

Abstract

A system for programming and controlling a multisensor robotic hand (Utah-MIT Hand) is described. Using this system, a number of autonomous tasks that are easily programmed and include combinations of hand-arm actuation with force, position, and tactile sensing have been implemented. The system is controlled at the software level by a programming language DIAL that provides an easy method for expressing the parallel operation of robotic devices. It also provides a convenient way to implement task-level scripts that can then be bound to particular sensors, actuators, and methods for accomplishing a generic grasping or manipulation task. Experiments using the system to pick up and pour from a pitcher, unscrew a lightbulb, and explore planar surfaces are presented

Keywords

computerised control; robot programming; DIAL; Utah-MIT Hand; autonomous tasks; grasping; hand-arm actuation; manipulation task; multisensor robotic hand; robot programming; task-level scripts; Actuators; Control systems; Grasping; Haptic interfaces; Robot control; Robot programming; Robot sensing systems; Robotic assembly; Sensor arrays; Tactile sensors;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9472

Type

jour

DOI

10.1109/21.61214

Filename

61214