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Pose Determination of a Grasped Object Using Limited Sensing

Research and Teaching Output of the MIT Community

Show simple item record Siegel, David M. en_US 2004-10-22T20:31:53Z 2004-10-22T20:31:53Z 1991-05-01 en_US
dc.identifier.other AITR-1300 en_US
dc.description.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. en_US
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dc.format.mimetype application/postscript
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dc.language.iso en_US
dc.relation.ispartofseries AITR-1300 en_US
dc.title Pose Determination of a Grasped Object Using Limited Sensing en_US

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