Integrated control for interpreting and manipulating the robot environment

摘要

We examine the properties of an integrated, intelligent controller for multifingered manipulators. The discussion addresses the dynamic constraints on computation and resource allocation in systems which must continually adjust objectives and the set of behaviors employed to attain them. We present a means of specifying general force domain tasks and include techniques for reflexive, sensor-based control and for optimal combinatoric grasp synthesis as alternative grasp formation mechanisms. Examples are presented to illustrate the acquisition of information, the incremental refinement of models, the use of uncertain information in reflexive grasp formation, and the use of complete geometric information in optimal grasping.