Experiments on Dextrous Manipulation Without Prior Object Models.

Abstract

In this paper we present a kinematic method for 6-degree-of-freedom manipulation of rigid objects using a dextrous robotic hand. Our method requires no prior models of the objects being manipulated, instead it obtains all the information needed directly from the hand's sensors. Its low computational cost makes real-time performance easy to achieve. We present experimental results showing the implementation of our method using the Utah/MIT dextrous hand. We also show that adding a Cartesian controller significantly improves the accuracy of the manipulation.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1996
Accession Number
ADA309153

Entities

People

  • Olac Fuentes
  • Randal C. Nelson

Organizations

  • University of Rochester

Tags

Communities of Interest

  • Autonomy

Fields of Study

  • Computer science

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Bayesian Inference
  • Autonomy