Title :
Optimized fingertip mapping for teleoperation of dextrous robot hands
Author :
Rohling, Robert N. ; Hollerbach, John M.
Author_Institution :
McGill Univ., Montreal, Que., Canada
Abstract :
An optimized fingertip mapping (OFM) has been developed to teleoperate the Utah/MIT Dextrous Hand (UMDH) by a new hand master: the Utah Dextrous Hand Master (UDHM). This mapping matches both the master´s fingertip positions and orientations by the robot fingers, and accounts for partially overlapping workspaces caused by kinematic dissimilarities between master and robot hands. The OFM generates robot hand poses by prioritizing the human fingertip position and orientation goals, and by minimizing the errors
Keywords :
manipulators; optimisation; position control; telecontrol; Utah/MIT Dextrous Hand; dextrous robot hands; fingertip mapping; kinematic dissimilarities; manipulators; orientation; orientations; positioning; teleoperation; Computer displays; Computer errors; Data gloves; Fingers; Humans; Kinematics; Laboratories; Robot control; Teleoperators; Testing;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292238
