Pose Determination of a Grasped Object Using Limited Sensing
Citable URI:
http://hdl.handle.net/1721.1/7292
| Title: | Pose Determination of a Grasped Object Using Limited Sensing |
| Author: | Siegel, David M. |
| Issue Date: | 1991-05-01 |
| Abstract: | 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. |
| URI: | http://hdl.handle.net/1721.1/7292 |
| Other Identifiers: | AITR-1300 |
| Series/Report no.: | AITR-1300 |
Files in this item
| Files | Size | Format |
|---|---|---|
| AITR-1300.pdf | 8.606Mb | application/pdf |
| AITR-1300.ps | 23.64Mb | application/postscript |
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