General purpose robotic manipulation

R. Grupen, T. Henderson, K. Biggers
{"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.<>
通用机器人操作
一个通用的机械手可以作为一个感官装置或执行在一个强大的或灵巧的操作模式。提出了一种支持通用操作的控制方法。指出了智能机器人系统发展的三个主要问题:行为良好的机器人设计、感知问题和策略综合。重点是控制多指机器人的手。讨论包括对行为良好的机器人(一个机器人和低级控制器,它们天生就擅长操纵)的描述,并着重于操纵策略的综合。没有考虑到感知问题。提出了一种控制器的原理图及其主要部件的描述。实验说明了控制器的策略综合部分在抓取规划和多指操作中的行为。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信