In this paper the control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the (functional) control of the crucial outputs in robotic manipulation, nam...

Our goal is to automate the understanding of natural hand-object manipulation by developing computer visionbased techniques. Our hypothesis is that it is necessary to model the grasp types of hands and the attributes of manipulated objects in order to accurately recognize manipulation actions. Specifically, we focus on recognizing hand grasp types, object attributes and actions from a single im...

This paper discusses a sufficient condition for manipulation of Envelope Family, where multiple contacts are allowed between object and chains (or environment). All chains are assigned by either position controlled chain (P-chain) or torque controlled chain (T-chain). While the object motion under multiple contacts can not be uniquely specified by T-chains only, we show a sufficient condition e...

In image-based approaches, a 3D object is usually represented by an Object-Centered Image Set (OCIS), which is a set of images taken from different viewpoints centered on the 3D object. Our objective is to browse such an image-based object by controlling it with a 2D mouse. Traditionally, the movement of the 2D mouse is converted to the 3D rotation angles of Pitch and Yaw only (i.e., not consid...

We present an interactive system to manipulate a virtual object by tracking multiple hands in 3D space using a Kinect device. The system segments hand shapes from a captured 3D scene by using depth information and active contours. A hand shape is recognized by a trained naive Bayes classifier, whether it belongs to a palm, a pointing hand form or both hands with simple occlusion. A plane is app...

We present a mobile manipulation system used by the Georgia Tech team in the RoboCup@Home 2010 competition. An overview of the system is provided, including the approach taken for manipulation, SLAM, object detection, object recognition, and system integration. We focus on our manipulation strategy, which utilizes a low-degree of freedom manipulator and makes use of the robot’s differential dri...

The paper provides a powerful basic concept for object manipulation with finger relocation and extends the previous approaches in the area of stratified manipulation. The algorithm gives also some improvements of the developed software for smooth and stratified motion planning (MP). The key element of the approach is based strongly on the theory of stratified control for nonlinear systems. The ...

Three experiments were conducted to evaluate response allocation of stereotypy during free-operant and restricted-operant conditions. Five children with autism or related developmental disabilities participated in at least one and up to three of the experiments. In Experiment 1, the stereotypic response that emerged as most probable during a free-operant phase was restricted, and response alloc...