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Pose Determination of a Grasped Object Using Limited Sensing

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dc.contributor.author Siegel, David M. en_US
dc.date.accessioned 2004-10-22T20:31:53Z
dc.date.available 2004-10-22T20:31:53Z
dc.date.issued 1991-05-01 en_US
dc.identifier.other AITR-1300 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/7292
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
dc.format.extent 23645568 bytes
dc.format.extent 8606597 bytes
dc.format.mimetype application/postscript
dc.format.mimetype application/pdf
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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