Accession Number : ADA309153

Title :   Experiments on Dextrous Manipulation Without Prior Object Models.

Descriptive Note : Technical rept.,

Corporate Author : ROCHESTER UNIV NY DEPT OF COMPUTER SCIENCE

Personal Author(s) : Fuentes, Olac ; Nelson, Randal C.

PDF Url : ADA309153

Report Date : FEB 1996

Pagination or Media Count : 16

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.

Descriptors :   *ROBOTICS, *MANIPULATORS, *HANDS, KINEMATICS, COMPUTATIONS, DETECTORS, MODELS, LOW COSTS, REAL TIME, ACCURACY, DEGREES OF FREEDOM, RIGIDITY, UTAH.

Subject Categories : Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE