Experiments in robotic sensori-motor control during grasp
This paper presents a series of experiments in robotic sensori-motor control during grasping. The work utilizes a multifingered, dextrous robot hand equipped with a fingertip force sensor to explore dynamic grasp force adjustment during manipulation. The work is primarily concerned with the relationship between the weight of an object and the grasp force required to lift it. Too weak a grasp is unstable and the object will slip from the hand. Too strong a grasp may damage the object and/or the manipulator. An algorithm is presented which uses tactile information from the sensor to dynamically adjust the grasp force during lift. It is assumed that there is no a priori knowledge about the object to be manipulated. The effects of different arm/hand postures and object surfaces is explored. Finally, the use of sensory data to detect unexpected object motion and to signal transitions between manipulation phases - with the coincident triggering of new motor programs - is investigated.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 10112514
- Report Number(s):
- SAND-91-1379; ON: DE92005384
- Resource Relation:
- Other Information: PBD: 6 Sep 1991
- Country of Publication:
- United States
- Language:
- English
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Experiments in robotic sensori-motor control during grasp
Experiments in robotic sensorimotor control during grasp