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Experiments on Dextrous Manipulation without Prior Object Models |
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@TechReport{Fuentes:TR96c,
author = {Olac Fuentes and Randal C. Nelson},
title = {Experiments on Dextrous Manipulation without Prior Object Models},
institution = {Comp Sci Dept University of Rochester},
year = {1996},
OPTnumber = {606},
OPTaddress = {Rochester NY},
OPTmonth = {Feburary},
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. }
}