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UPE: Utah prototyping environment for robot manipulators

M. Dekhil, T.M. Sobh, T.C. Henderson, R. Mecklenburg
Proceedings of 1995 IEEE International Conference on Robotics and Automation  
In this paper, we propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment.  ...  In this paper, we propose a flexible prototyping environment for robot manipulators with the required subsystems and interfaces between the different components of this environment.  ...  Conclusion The design basis for building a prototyping environment for robot manipulators was investigated and the design options were explained.  ... 
doi:10.1109/robot.1995.525380 dblp:conf/icra/DekhilSHM95 fatcat:z5snh3hl7bcx7k3zmaiafaj75y

Learning Dextrous Manipulation Skills for Multifingered Robot Hands Using the Evolution Strategy

Olac Fuentes, Randal C. Nelson
1998 Machine Learning  
We present a method for autonomous learning of dextrous manipulation skills with multifingered robot hands.  ...  Our approach consists of learning and storing a few basic manipulation primitives for a few prototypical objects and then using an associative memory to obtain the required parameters for new objects and  ...  This observation has been used in other systems (e.g., Narasimhan, 1988) for computing the inverse kinematics of the Utah/MIT hand.  ... 
doi:10.1023/a:1007409228154 dblp:journals/ml/FuentesN98 fatcat:wlstcwcx2jgvdjed5gk3nkkbz4

A handy new design paradigm

B. Bergelin, B. Slaboch, J. Sun, P. A. Voglewede
2011 Mechanical Sciences  
Current industrial grippers are robust, but lack the flexibility that allows for in hand manipulation.  ...  The authors believe that underactuated grippers provide the best approach to allow for in hand manipulation along with being rugged enough for an industrial setting.  ...  New motion planning techniques need to incorporate environmental factors in conjunction with the DOF of the robot.  ... 
doi:10.5194/ms-2-59-2011 fatcat:lik4mcaw6bgpdgeqdkblfj3qzi

Milli-robotics for remote, minimally invasive surgery

S.S Sastry, M Cohn, F Tendick
1997 Robotics and Autonomous Systems  
We also discuss the need for modeling compliant tissue for telepresent manipulation and training. We, then, describe a test bed telesurgical workstation that has been set up at Berkeley.  ...  Thus, the need for milli-robotics for this surgery and the need for new kinds of robots, tactile and visual sensors, and human-machine interfaces.  ...  Several groups have produced prototype computer graphics simulators that create virtual environments for surgical training [26] .  ... 
doi:10.1016/s0921-8890(96)00082-6 fatcat:3e33grsun5cjbjjthwzhg7jnxi

OctoMag: An electromagnetic system for 5-DOF wireless micromanipulation

B E Kratochvil, M P Kummer, J J Abbott, R Borer, O Ergeneman, Bradley J Nelson
2010 2010 IEEE International Conference on Robotics and Automation  
OctoMag was primarily designed for the control of intraocular microrobots for delicate retinal procedures, but also has potential uses in other medical applications or micromanipulation under an optical  ...  In its current configuration the OctoMag is capable of creating field gradients up to 2 T/m and orienting fields up to 50 mT while steering the robot.  ...  Simaan, "Performance evaluation for multi-arm manipulation of hollow suspended organs," IEEE Trans. Robotics, vol. 25, no. 1, pp. 147-157, 2009. [5] K. B. Yesin, K. Vollmers, and B. J.  ... 
doi:10.1109/robot.2010.5509857 dblp:conf/icra/KratochvilKABEN10 fatcat:56gpg32zsvfslgeujhrsiczv3q

On the development of intrinsically-actuated, multisensory dexterous robotic hands

Hong Liu, Dapeng Yang, Shaowei Fan, Hegao Cai
2016 ROBOMECH Journal  
According to different application scenarios, we develop robot hands in two parallel lines, dexterous robotic hand and anthropomorphic prosthetic hand.  ...  In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy of several robot hands.  ...  For achieving delicate manipulations, the DRHs need to know necessary information about its outer environment (obstacles) and the object (stiffness, size, shape, and weight) to operate.  ... 
doi:10.1186/s40648-016-0043-5 fatcat:mqkuffrabre7hhsdhsir4ylmqm

Research Robots for Applications in Artificial Intelligence, Teleoperation and Entertainment

S.C. Jacobsen, M. Olivier, F.M. Smith, D.F. Knutti, R.T. Johnson, G.E. Colvin, W.B. Scroggin
2004 The international journal of robotics research  
Sarcos Research Corporation, and the Center for Engineering Design at the University of Utah, have long been interested in both the fundamental and the applied aspects of robots and other computationally  ...  This paper reviews various aspects of the design and control of a number of robot-like machines ranging from our first projects, the Utah Arm and the Utah/MIT Dextrous Hand, to present work on humanoid  ...  Acknowledgments Support for the work described in this paper has been provided by the Defense Advanced Research Projects  ... 
doi:10.1177/0278364904042198 fatcat:g63hq7ezfnduphgw4cic34ki3i

Virtual environment display system

S. S. Fisher, M. McGreevy, J. Humphries, W. Robinett
1987 Proceedings of the 1986 workshop on Interactive 3D graphics - SI3D '86  
A head-mounted, wide-angle, stereoscopic display system controlled by operator position, voice and gesture has been developed for use as a multipurpose interface environment.  ...  The system provides a multisensory, interactive display environment in which a user can virtually explore a 360degree synthesized or remotely sensed environment and can viscerally interact with its components  ...  With this capability, the operator can pick-up and manipulate virtual objects that appear in the surrounding virtual environment.  ... 
doi:10.1145/319120.319127 dblp:conf/si3d/FisherMHR86 fatcat:ksvvah4vungddhvozofcxd6sxu

Trends in Rehabilitation and Medical Robots

Kazuhiko KAWAMURA
1993 Journal of the Robotics Society of Japan  
Another approach for robot mobility is based on mounting the robot manipulator arm on the pa tient's wheelchair.  ...  It is necessary for the robotic system to monitor the environment con- tinuously. The most common sensor used for such monitoring activities is vision.  ... 
doi:10.7210/jrsj.11.71 fatcat:jom7oubixffdfm7a4le4cgul6m

Robotic Hands: Design Review And Proposal Of New Design Process

Jimmy W. Soto Martell, Giuseppina Gini
2007 Zenodo  
In this paper we intend to ascertain the state of the art on multifingered end-effectors, also known as robotic hands or dexterous robot hands, and propose an experimental setup for an innovative task  ...  dexterous robotic hands.  ...  The Utah/MIT Hand Developed by the Center for Engineering Design at the University of Utah, and the Artificial Intelligence Laboratory at the MIT, this robotic end effector was intended to function as  ... 
doi:10.5281/zenodo.1072005 fatcat:limhtgv4xrbmhic4eijcn5tmim

Guest Editorial Focused Section on Soft Actuators, Sensors, and Components (SASC)

K. K. Leang, F. Iida, J. Paik, Y.-L. Park, J. Ueda
2019 IEEE/ASME transactions on mechatronics  
He was involved in a number of research projects related to robot locomotion, manipulation, and human-robot interactions leading to some start-up companies.  ...  environmental monitoring.  ... 
doi:10.1109/tmech.2019.2894821 fatcat:4hsrjse2tfayhbkke3pyl3dzfu

Current research in robotics and automation-an intelligent grasping system

P. Allen, P. Michelman, K. Roberts
1989 Computer  
ThanksalsotoSteven Feiner and Cliff Beshers for bringing Dial to our attention. DMC-86-05065, DCI-86-08845, CCR-86-  ...  and picking them up, manipulating manmade objects such as tools, and recognizing unknown objects through touch.  ...  The system we have built consists of a Utah-MIT hand' attached to a Puma 560 manipulator (Figure 1) . The hand has four fingers, each with four degrees of freedom.  ... 
doi:10.1109/2.16225 fatcat:vghbuv3ojbbb7gx4hkjvvvvs6q

Design and control of three fingers motion for dexterous assembly of compliant elements

W Widhiada, SS Douglas, ID Jenkinson, JB Gomm
2012 International Journal of Engineering, Science and Technology  
Satisfactory motion responses for the finger simulation are achieved.  ...  The force controlling gripper in contact with the environment is very important in industry applications.  ...  Acknowledgment Authors are grateful to the Higher Education Directorate General, Ministry of National Education, Republic of Indonesia for the financial support of this project.  ... 
doi:10.4314/ijest.v3i6.2s fatcat:rmv4zber3vebxlssavf7ftvcxm

Generality and Simple Hands [chapter]

Matthew T. Mason, Siddhartha S. Srinivasa, Andres S. Vazquez
2011 Springer Tracts in Advanced Robotics  
Finally, we present some experimental results for a prototype simple hand in a bin-picking task.  ...  This raises the question: how do generality and simplicity trade off in the design of robot hands? This paper explores the tension between simplicity in hand design and generality in hand function.  ...  Our work touches on many different areas of robotic manipulation, including topics that predate robotics.  ... 
doi:10.1007/978-3-642-19457-3_21 fatcat:vd5crhbfefbmfgdath3zrdmqcm

A Semi-autonomous Wheelchair with HelpStar [chapter]

H. Uchiyama, L. Deligiannidis, W. D. Potter, B. J. Wimpey, D. Barnhard, R. Deng, S. Radhakrishnan
2005 Lecture Notes in Computer Science  
This paper demonstrates the successful integration of assistive technologies that allow a person who is visually impaired and using a wheelchair to navigate through everyday environments.  ...  The user still manipulates the wheelchair movements.  ...  To demonstrate the feasibility of this concept, the HelpStar prototype currently uses a commercially available robotics kit from Evolutionary Robotics called the ER1.  ... 
doi:10.1007/11504894_111 fatcat:jeopif2b2fhjzhhbp2dkylq4om
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