Abstract
We describe research at the Stanford Dextrous Manipulation Lab centered around haptic exploration of objects with robot hands. The research areas include object acquisition and manipulation and object exploration with robot fingers to measure surface features, textures and friction. We assume that the robot is semi-autonomous; it can receive guidance or supervision from humans regarding object selection and grasp choice, but is also equipped with algorithms for autonomous fine manipulation, surface exploration and feature identification. The applications of this work include object retrieval and identification in remote or hazardous environments.
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© 2000 Springer-Verlag London Limited
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Okamura, A.M., Costa, M.A., Turner, M.L., Richard, C., Cutkosky, M.R. (2000). Haptic surface exploration. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119420
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DOI: https://doi.org/10.1007/BFb0119420
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