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Introducing robotic `common sense' in real time dexterous manipulation

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4 Author(s)
S. P. Ananthanarayanan ; Robotics & Autom. Lab., Toronto Univ., Ont., Canada ; D. Gershon ; A. A. Goldenberg ; J. Mylopoulos

Describes the implementation of a real-time controller for dexterous manipulation with a hierarchical intelligent control architecture. The architecture is based on a blackboard model that enables incremental, opportunistic, and dynamic decision making and control. The following features have been incorporated into the dexterous robot hand controller: (1) controlling robot fingers using robotic common sense reasoning, based on qualitative representations of control variables and parameters; and (2) opportunistically switching between coarse qualitative control that is based on a physical model and conventional fine quantitative control that is based on a mathematical model. The controller was implemented on a multirobot grasping facility, and preliminary experimental results are presented

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992