منابع مشابه
Dexterous Manipulation Graphs
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot’s end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the endeffector. We use a dual arm robot with p...
متن کاملDexterous Manipulation Through Rolling
Nonholonomic constraints in robotic systems are the source of some di culties in planning and control; however, they also introduce interesting properties that can be practically exploited. In this paper we consider the design of a robot hand that achieves dexterity (i.e., the ability to arbitrarily locate and reorient manipulated objects) through rolling. Some interesting issues arising in pla...
متن کاملDexterous Manipulation of Cloth
This paper introduces a new technique to synthesize dexterous manipulation of cloth. Given a simple description of the desired cloth motion, our algorithm computes appropriate joint torques for physically simulated hands, such that, via contact forces, the result of cloth simulation follows the desired motion. Instead of optimizing the hand control forces directly, we formulate an optimization ...
متن کاملReaching for Dexterous Manipulation
I review three papers in the area of dexterous manipulation by machines. These papers focus on different stages of the process of grasping an object. The first describes a method for generating a suitable hand pose to grasp an object at a given set of contact points. The second describes a method for adapting an example manipulation task from a given object to a new object. The third describes ...
متن کاملDexterous Hexrotor UAV Platform
Mobile manipulation is a hot area of study in robotics as it unites the two classes of robots: locomotors and manipulators. An emerging niche in the field of mobile manipulation is aerial mobile manipulation. Although there has been a fair amount of study of free-flying satellites with graspers, the more recent trend has been to outfit UAVs with graspers to assist various manipulation tasks. Wh...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2013
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2013.06.012