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Title: Experiments in robotic sensori-motor control during grasp

Abstract

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.

Authors:
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
10112514
Report Number(s):
SAND-91-1379
ON: DE92005384
DOE Contract Number:  
AC04-76DP00789
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: 6 Sep 1991
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; MANIPULATORS; CONTROL; ROBOTS; REMOTE HANDLING; ALGORITHMS; SENSITIVITY; TESTING; 420203; HANDLING EQUIPMENT AND PROCEDURES

Citation Formats

Stansfield, S A. Experiments in robotic sensori-motor control during grasp. United States: N. p., 1991. Web.
Stansfield, S A. Experiments in robotic sensori-motor control during grasp. United States.
Stansfield, S A. Fri . "Experiments in robotic sensori-motor control during grasp". United States.
@article{osti_10112514,
title = {Experiments in robotic sensori-motor control during grasp},
author = {Stansfield, S A},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1991},
month = {9}
}

Technical Report:
Other availability
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