We describe research at the Stanford Dextrous Manipulation Lab centered around haptic exploration of objects with robot hands. The research areas include object acquisition and manipulation and object exploration with robot fingers to measure surface features, textures and friction. We assume that the robot is semi-autonomous; it can receive guidance or supervision from humans regarding object selection and grasp choice, but is also equipped with algorithms for autonomous fine manipulation, surface exploration and feature identification. The applications of this work include object retrieval and identification in remote or hazardous environments.
Haptic surface exploration
Lect Notes Control Inf Sci
30.04.2008
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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