Prehensile tails, capable of suspending the entire body weight of an animal, have evolved in parallel in New World monkeys (Platyrrhini): once in the Atelinae (Alouatta, Ateles, Brachyteles, Lagothrix), and once in the Cebinae (Cebus, Sapajus). Structurally, the prehensile tails of atelines and cebines share morphological features that distinguish them from nonprehensile tails, including longer...

Object manipulation is a complex task for robots. It often implies a compromise between the degrees-of-freedom of hand and its fingers have (dexterity) and its cost and complexity in terms of control. One strategy to increase the dexterity of robotic hands with low dexterity is called extrinsic manipulation and its principle is to exploit additional accelerations on the object caused by the eff...

Robotic manipulation systems suffer from two main problems in unstructured human environments: uncertainty and clutter. We introduce a planning framework addressing these two issues. The framework plans rearrangement of clutter using non-prehensile actions, such as pushing. Pushing actions are also used to manipulate object pose uncertainty. The framework uses an action library that is derived ...

Simultaneous externalization of design alternatives through multiple prototypes enables designers to see choices in context and facilitates comparative reasoning and discussion. This paper introduces two techniques for interactively manipulating multiple software alternatives. First, this work demonstrates a novel environment for constructing multiple design alternatives through (selectively) p...

Reinforcement learning has emerged as a promising methodology for training robot controllers. However, most results have been limited to simulation due to the need for a large number of samples and the lack of automated-yet-safe data collection methods. Model-based reinforcement learning methods provide an avenue to circumvent these challenges, but the traditional concern has been the mismatch ...

Multifingered robotic hands are attempts to approximate human hand characteristics and functionality, and it is reasonable to consider their possible adaptation and use in prosthetics and rehabilitation. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system that translates task-level commands into motor commands. Our system, PRESHAPE, uses the virtual ...

Ideomotor apraxia (IM) is a disorder of skilled action characterized by spatiotemporal errors in pantomiming object use and in using objects. Recent evidence suggests that at least some patients with IM may exhibit particular deficits in forming hand configurations appropriate for object use. Sirigu et al. [Cortex 31 (1995) 41] reported an apraxic who positioned her hand inappropriately when at...

We present a method for fast and accurate physics-based predictions during non-prehensile manipulation planning control. Given an initial state sequence of controls, the problem predicting resulting states is key component variety model-based control algorithms. propose combining coarse (i.e. computationally cheap but not very accurate) predictive physics model, with fine expensive to generate ...