Cart (Loading....) | Create Account
Close category search window
 

A phase management framework for event-driven dextrous manipulation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Hyde, J.M. ; TenFold Corp., Draper, UT, USA ; Cutkosky, M.R.

Multifingered robotic hands have not yet made significant inroads into practical applications, partly due to the complexity of dextrous manipulation tasks, and also due to control software shortcomings. High level task controllers exist, as do low level grasp controllers, but neither of these fully address the problems of changing kinematic and dynamic constraints that arise during a grasping and manipulation task. This paper develops a framework, utilizing phases, events, and transitions, that bridges the gap between highand low-level control. Results from constraint handling and transition experiments conducted with a two-fingered hand are included

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 6 )

Date of Publication:

Dec 1998

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.