Pose Determination of a Grasped Object Using Limited Sensing

Title: en_US Pose Determination of a Grasped Object Using Limited Sensing
Creator: en_US Siegel, David M.
Date: 2004-10-22T20:31:53Z
Date Available: 2004-10-22T20:31:53Z
Date Issued: en_US 1991-05-01
Identifier: en_US AITR-1300
uri: http://hdl.handle.net/1721.1/7292
Abstract: en_US This report explores methods for determining the pose of a grasped object using only limited sensor information. The problem of pose determination is to find the position of an object relative to the hand. The information is useful when grasped objects are being manipulated. The problem is hard because of the large space of grasp configurations and the large amount of uncertainty inherent in dexterous hand control. By studying limited sensing approaches, the problem's inherent constraints can be better understood. This understanding helps to show how additional sensor data can be used to make recognition methods more effective and robust.
Extent: 23645568 bytes; 8606597 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1300