A Hand-Eye-Arm Coordinated System

Loading...
Thumbnail Image
Penn collection
Technical Reports (CIS)
General Robotics, Automation, Sensing and Perception Laboratory
Degree type
Discipline
Subject
GRASP
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Agrawal, Sanjay
Bajcsy, Ruzena
Contributor
Abstract

In this paper we present the description and experiments with a tightly coupled Hand-Eye-Arm manipulatory system. We explain the philosophy and the motivation for building a tightly coupled system that actually consists of very autonomous modules that communicate with each other via a central coordinator. We describe each of the modules in the system and their interactions with each other. We highlight the need for sensory driven manipulation, and explain how the above system, where the hand is equipped with multiple tactile sensors, is capable of both manipulating unknown objects, but also detecting and complying in the case of collisions. We explain the partition of the control of the system into various closed loops, representing coordination both at the level of gross manipulator motions as well as fine motions. We describe the various modes that the system can work in, as well as some of the experiments that are being currently performed using this system.

Advisor
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Publication date
1991-01-14
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-91-05.
Recommended citation
Collection