Finding a grasped object's pose using joint angle and torque constraints

David Mark Siegel

doi:10.1117/12.25253

1 April 1991 Finding a grasped object's pose using joint angle and torque constraints

David Mark Siegel

Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991) https://doi.org/10.1117/12.25253
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

This paper addresses the problem of finding the pose of an object grasped by a hand. The problem can be stated simply: Given a hand grasping an object, and given a model of that object, determine the position and orientation of the object with respect to the hand. The method described uses only joint angle and torque sensing, and is able to localize two-dimensional objects grasped by the Utah-MIT Dextrous Hand.

Citation Download Citation

David Mark Siegel "Finding a grasped object's pose using joint angle and torque constraints", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); https://doi.org/10.1117/12.25253

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