DocumentCode
1562526
Title
An integrated system for dextrous manipulation
Author
Allen, Peter K. ; Michelman, Paul ; Roberts, Kenneth S.
fYear
1989
Firstpage
612
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location
Scottsdale, AZ
Print_ISBN
0-8186-1938-4
Type
conf
DOI
10.1109/ROBOT.1989.100052
Filename
100052
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