Publication:
Adaptive control of direct drive dexterous robotic hand with bilateral tactile sensing

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Authors
Driels, Morris
Subjects
Robot hands
Haptics
Sensing
Teleoperation
Advisors
Date of Issue
1990-12
Date
1990-12
Publisher
Monterey, California. Naval Postgraduate School
Language
eng
Abstract
The work addresses the problem of identifying objects using a remote teleoperator. The application of the research is part of the development of demonstration technologies for the next generation of ROV ' s currently under development by the US Navy. Two related research issues are developed. The first deals with determining how a teleoperator would remotely probe an unidentifed object, and attempt to determine what the object is based only of force feedback through the teleoperator mechanism. Haptic models are tested against experimental data. The second issue addressed is the design of a dexterous, direct drive end effector for use on a teleoperator system. Results concerning the mechanic design of a small scale mechanical hand are discussed.
Type
Technical Report
Description
Series/Report No
Department
Identifiers
NPS Report Number
NPS-69-90-06
Sponsors
Naval Ocean Systems Center, Adaptive Systems Branch, Kailua, HI
Funder
O&MN, Direct Funding
Format
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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