{"title":"General purpose robotic manipulation","authors":"R. Grupen, T. Henderson, K. Biggers","doi":"10.1109/ISIC.1988.65478","DOIUrl":null,"url":null,"abstract":"A general-purpose manipulator may act as a sensory device or perform in either a powerful or a dexterous mode of operation. Work toward a control methodology which supports general-purpose manipulation is presented. Three major issues in the development of intelligent robotic systems are identified: the design of well-behaved robots, the perceptual problem, and strategy synthesis. The focus is on the control of multifingered robot hands. The discussion includes a description of the well-behaved robot (a robot and low-level controller which are inherently good at manipulation) and focuses on manipulation strategy synthesis. The perceptual problem is not considered. A schematic of a proposed controller and a description of its major components are presented. Experiments illuminating the behavior of the strategy synthesis portion of the controller are presented for grasp planning and multifingered manipulation.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"61 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IEEE International Symposium on Intelligent Control 1988","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.1988.65478","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
A general-purpose manipulator may act as a sensory device or perform in either a powerful or a dexterous mode of operation. Work toward a control methodology which supports general-purpose manipulation is presented. Three major issues in the development of intelligent robotic systems are identified: the design of well-behaved robots, the perceptual problem, and strategy synthesis. The focus is on the control of multifingered robot hands. The discussion includes a description of the well-behaved robot (a robot and low-level controller which are inherently good at manipulation) and focuses on manipulation strategy synthesis. The perceptual problem is not considered. A schematic of a proposed controller and a description of its major components are presented. Experiments illuminating the behavior of the strategy synthesis portion of the controller are presented for grasp planning and multifingered manipulation.<>