Haptic perception with an articulated, sensate robot hand

Technical Report · Thu Mar 01 00:00:00 EST 1990

DOI:https://doi.org/10.2172/6909453· OSTI ID:6909453

Stansfield, S A

In this paper we present a series of haptic exploratory procedures, or EPs, implemented for a multi-fingered, articulated, sensate robot hand. These EPs are designed to extract specific tactile and kinesthetic information form an object via their purposive invocation by an intelligent robotic system. Taken together, they form and active robotic touch perception system to be used both in extracting information about the environment for internal representation and in acquiring grasps for manipulation. The haptic system presented utilizes and integrated robotic system consisting of PUMA 560 robot arm, a JPL/Stanford robot hand, with joint torque sensing in the fingers, a wrist force/torque sensor, and 256 element, spatially-resolved fingertip tactile array. We describe the EPs implemented for this system and provide experimental results which illustrate how they function and how the information which they extract may be used. In addition to the sensate hand and arm, the robot also contains structured-lighting vision and a Prolog-based reasoning system capable of grasp generation and object categorization. We present a set of simple tasks which show how both grasping and recognition may be enhanced by the addition of active touch perception. 34 refs., 23 figs.

• Research Organization: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: DOE/ER
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 6909453
• Report Number(s): SAND-90-0085; ON: DE90010195
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
ARTIFICIAL INTELLIGENCE
IMPLEMENTATION
VISION
HANDS
SENSITIVITY
MANIPULATORS
EQUIPMENT INTERFACES
ROBOTS
MATERIALS HANDLING
ELASTICITY
FINGERS
FLEXIBILITY
IMAGE PROCESSING
LIGHTING SYSTEMS
PERFORMANCE TESTING
REMOTE SENSING
TASK SCHEDULING
TECHNOLOGY ASSESSMENT
VARIATIONS
BODY
BODY AREAS
DATA PROCESSING
ENERGY SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
LIMBS
MATERIALS HANDLING EQUIPMENT
MECHANICAL PROPERTIES
PROCESSING
REMOTE HANDLING EQUIPMENT
TENSILE PROPERTIES
TESTING
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers