Title :
Finding the pose of an object in a hand
Author :
Siegel, David M.
Author_Institution :
MIT Artificial Intelligence Lab., Cambridge, MA, USA
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131611
