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Proceedings Paper

Finding a grasped object's pose using joint angle and torque constraints
Author(s): David Mark Siegel
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Paper 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.

Paper Details

Date Published: 1 April 1991
PDF: 15 pages
Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.25253
Show Author Affiliations
David Mark Siegel, Massachusetts Institute of Technology (United States)


Published in SPIE Proceedings Vol. 1383:
Sensor Fusion III: 3D Perception and Recognition
Paul S. Schenker, Editor(s)

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