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Title: Haptic perception with an articulated, sensate robot hand

Abstract

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.

Authors:
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (USA)
Sponsoring Org.:
DOE/ER
OSTI Identifier:
6909453
Report Number(s):
SAND-90-0085
ON: DE90010195
DOE Contract Number:  
AC04-76DP00789
Resource Type:
Technical Report
Country of Publication:
United States
Language:
English
Subject:
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

Citation Formats

Stansfield, S A. Haptic perception with an articulated, sensate robot hand. United States: N. p., 1990. Web.
Stansfield, S A. Haptic perception with an articulated, sensate robot hand. United States.
Stansfield, S A. Thu . "Haptic perception with an articulated, sensate robot hand". United States.
@article{osti_6909453,
title = {Haptic perception with an articulated, sensate robot hand},
author = {Stansfield, S A},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1990},
month = {3}
}

Technical Report:
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