Skill based manipulation system.

Skill-Based Bimanual Manipulation Planning

The paper focuses on specification and utilization of manipulation skills to facilitate programming of bimanual manipulation tasks. Manipulation skills are actions to reach predefined goals. They constitute an interface between lowlevel constraint-based task specification and high level symbolic task planning. The task of the robot can be decomposed into subtasks that can be resolved using mani...

Kinematic Morphing Networks for Manipulation Skill Transfer

The transfer of a robot skill between different geometric environments is non-trivial since a wide variety of environments exists, sensor observations as well as robot motions are high-dimensional, and the environment might only be partially observed. We consider the problem of extracting a low-dimensional description of the manipulated environment in form of a kinematic model. This allows us t...

Coordination in Climbing: Effect of Skill, Practice and Constraints Manipulation.

BACKGROUND Climbing is a physical activity and sport involving many subdisciplines. Minimization of prolonged pauses, use of a relatively simple path through a route and smooth transitions between movements broadly define skilled coordination in climbing. OBJECTIVES To provide an overview of the constraints on skilled coordination in climbing and to explore future directions in this emerging ...

Realization of Skill Controllers for Manipulation of Deformable Objects Based on Hybrid Automata

Requirement of handling deformable objects such as leather, paper, and rubber is growing. Since it is very di cult to make a physical model of them, a design of controller to manipulate them becomes one of the signi cant problems in the elds of robotics. On the contrary, if we look at the operation of human worker, the deformable objects seem to be handled naturally and smoothly. This paper pre...

Skill-Mart: Skilled Robotic Manipulation of Non-Rigid Objects