Dexterous Manipulation Graphs
نویسندگان
چکیده
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 parallel grippers to test our method on a real system and show successful planning and execution of in-hand manipulation.
منابع مشابه
An Overview of Dexterous Manipulation
This paper for the ICRA 2000 Symposium on Dexterous Manipulation presents an overview of research in dexterous manipulation. We rst de ne robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used to formulate the dexterous manipulation problem. Dexterous motion planning is described, which includes grasp plan...
متن کاملDexterous manipulation is poorer at older ages and is dissociated from decline of hand strength.
BACKGROUND The ability to dynamically control fingertip force vector magnitude and direction is critical for dexterous manipulation. We quantified the dynamic control of fingertip forces to examine how dexterous manipulation declines with age. METHODS The strength-dexterity (SD) test measures fingertip forces during compression of a slender spring prone to instability and buckling. The greate...
متن کاملDynamic whole-arm dexterous manipulation in the plane
A dynamic model Whole-Arm Dexterous Manipulation In The Plane S.L. Yeap J.C. Trinkle Dept. of CS syeap@cs. tamu.edu Dept. of CS trink@cs . t amu.edu Texas A&M University, College Station, TX 77843-31 12 ' of a dexterous manipulation system can be used for predicting the feasibility of a manipulation plan generated under the quasistatic assumption but executed under dynamic conditions. Contact f...
متن کاملDexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation
In this paper, we describe the realization and control of robotic end-effectors that are designed to achieve high operational versatility with limited constructive complexity. The design of such endeffectors, which can be regarded either as low-complexity robot hands or as highly versatile robot grippers, is based on the intentional exploitation of nonholonomic effects that occur in rolling. Wh...
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 کامل