Tele-assistance task planning for dextrous underwater manipulation

M. F C Pickett, D. M. Lane

Research output: Contribution to journalArticle

Abstract

An approach to operator interaction for a three-fingered dextrous manipulator is described, using a tele-assistance method termed blind grasping. Starting with approximate co-ordinates for the object location, a series of finger contact movements is used to establish the object geometry and candidate stable grasp locations. The approach is implemented within the framework of the preference planning architecture, a reactive tele-assistance task planner that uses geometric and semantic world models to trigger a hierarchical set of task sequences. For the first prototype AMADEUS underwater gripper, we demonstrate that variously shaped objects centred between the open gripper fingers can generally be grasped using simple closure. However, off centre displacements as small as 1 cm require multiple touch samples to acquire the geometry with sufficient accuracy to choose stable grasp points.

Original languageEnglish
Pages (from-to)200-204
Number of pages5
JournalOceans Conference Record
Volume1
Publication statusPublished - 1998
EventProceedings of the 1998 Oceans Conference. Part 1 (of 3) - Nice, Fr
Duration: 28 Sep 19981 Oct 1998

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