• DocumentCode
    3215593
  • Title

    Finding the pose of an object in a hand

  • Author

    Siegel, David M.

  • Author_Institution
    MIT Artificial Intelligence Lab., Cambridge, MA, USA
  • fYear
    1991
  • fDate
    9-11 Apr 1991
  • Firstpage
    406
  • Abstract
    The author addresses the problem of finding the pose of an object grasped by a hand. The problem can be stated simply: given a hand grasping an object, and given a model of that object, determine the position and orientation of the object with respect to the hand. The method described uses only joint angle and torque sensing, and is able to localize two-dimensional objects grasped by the Utah-MIT dextrous hand
  • Keywords
    position control; robots; Utah-MIT dextrous hand; grasped object pose; hand grasping; joint angle; orientation; positioning; robots; torque sensing; Artificial intelligence; Fingers; Grasping; Haptic interfaces; Hardware; Laboratories; Servosystems; Shape; Tactile sensors; Torque;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
  • Conference_Location
    Sacramento, CA
  • Print_ISBN
    0-8186-2163-X
  • Type

    conf

  • DOI
    10.1109/ROBOT.1991.131611
  • Filename
    131611
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3215593