Pose Determination of a Grasped Object Using Limited Sensing
This report explores methods for determining the pose of a grasped object using only limited sensor information. The problem of pose determination is to find the position of an object relative to the hand. The information is useful when grasped objects are being manipulated. The problem is har...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/7292 |
| _version_ | 1826203389318397952 |
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| author | Siegel, David M. |
| author_facet | Siegel, David M. |
| author_sort | Siegel, David M. |
| collection | MIT |
| description | This report explores methods for determining the pose of a grasped object using only limited sensor information. The problem of pose determination is to find the position of an object relative to the hand. The information is useful when grasped objects are being manipulated. The problem is hard because of the large space of grasp configurations and the large amount of uncertainty inherent in dexterous hand control. By studying limited sensing approaches, the problem's inherent constraints can be better understood. This understanding helps to show how additional sensor data can be used to make recognition methods more effective and robust. |
| first_indexed | 2024-09-23T12:35:48Z |
| id | mit-1721.1/7292 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T12:35:48Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/72922019-04-15T00:40:30Z Pose Determination of a Grasped Object Using Limited Sensing Siegel, David M. This report explores methods for determining the pose of a grasped object using only limited sensor information. The problem of pose determination is to find the position of an object relative to the hand. The information is useful when grasped objects are being manipulated. The problem is hard because of the large space of grasp configurations and the large amount of uncertainty inherent in dexterous hand control. By studying limited sensing approaches, the problem's inherent constraints can be better understood. This understanding helps to show how additional sensor data can be used to make recognition methods more effective and robust. 2004-10-22T20:31:53Z 2004-10-22T20:31:53Z 1991-05-01 AITR-1300 http://hdl.handle.net/1721.1/7292 en_US AITR-1300 23645568 bytes 8606597 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Siegel, David M. Pose Determination of a Grasped Object Using Limited Sensing |
| title | Pose Determination of a Grasped Object Using Limited Sensing |
| title_full | Pose Determination of a Grasped Object Using Limited Sensing |
| title_fullStr | Pose Determination of a Grasped Object Using Limited Sensing |
| title_full_unstemmed | Pose Determination of a Grasped Object Using Limited Sensing |
| title_short | Pose Determination of a Grasped Object Using Limited Sensing |
| title_sort | pose determination of a grasped object using limited sensing |
| url | http://hdl.handle.net/1721.1/7292 |
| work_keys_str_mv | AT siegeldavidm posedeterminationofagraspedobjectusinglimitedsensing |